Error 5100 is a carriage error. There is a plastic strip that goes through the carriage, if that strip is dirty, damaged, or has come loose, that will cause the problem.
Power off, check the strip, use a barely damp qtip to very gently clean it, and try power on again.
If you still have the error, it is probably mechanical, and could be any number of things, none of which are easy (or clean) to fix.
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