I have the ip4000 but the service errors are probably the same. In the Service Manual, Error 5100 is a "Carriage Error". The solution column lists the following:
Replacement of listed parts, which are likely to be faulty
Carriage Unit
Timing slit strip film
Logic board Assy
Carriage motor
Sounds like one of the above parts failed. But I don't know where you go from here. Is the printer still under warranty. Best maybe to contact Canon.
If on30trainman is correct and the printer is under warranty--- I would recommend you insist on it being repaired or replaced with another ip3000--because the ip3000 is unchipped and is your ticket to economical printing---if Canon offers to replace it with a chipped Canon---I for one would recommend you say no.