F51 error code is a motor rotor position sensor failure or a lower harness problem. You need to check the motor in manual test mode, not automatic test mode. This will check the hall sensors and do a spin test: Be sure the washer is in standby mode (plugged in with all indicators off; or with only the Clothes Clean or Done indicator on). Select any one button (except POWER, START, STOP, and PAUSE/CANCEL) and follow the steps below, using the same button: Press/hold 3 seconds. Release for 3 seconds. Press/hold 3 seconds. Release for 3 seconds. Press/hold 3 seconds.
If this test mode has been entered successfully, all indicators on the console are illuminated for 5 seconds with 88 showing in the Estimated Time Remaining two-digit display. During the 5 second wait time with 88 showing in the display, press the same button once. You should be in manual test mode. If the button is not pressed within 5 seconds, the automatic test mode begins. The Rotor Position Sensor uses Wash, Rinse, and Spin indicators to detect the three hall sensors. Console can have up to two of these indicators on at the same time when the tub is not moving. Open the lid and rotate the basket by hand. The Wash, Rinse, and Spin indicators should toggle on and off according to the direction the tub is being turned.
SPIN TEST: Make sure lid is down. Press and release: 2nd RINSE or EXTRA RINSE. The lid locks and the lid lock indicator turns on. Press and release; SPIN SPEED, WATER LEVEL, or LOAD SIZE. The motor/basket spins at 23 rpm. Press again, motor /basket spins at 530 rpm. Press again, motor/basket spins at 950 rpm. Press again and motor turns off. This was a cut n paste from a blog on that issue.
SOURCE: whirlpool cabrio error code f51 what does it mean?
Lefty, the code means a rotor position sensor error. The first thing you want to do is see if the basket turns freely by hand. I had one the other day where a dish towell was caught between the basket and tub giving the error. You will have to open the top by using a putty knife and pushing in on the clips on each side. They are strong clips so you have to use some force. The whole top will lift up. Next you will have to remove the tub ring. It just snaps off. If you don't find anything between them, then I would suspect the rotor sensor itself. At the factory they sprayed a protective coating on them and sometimes this causes the problem. You would have to tip the washer back. The motor cover comes off witha allen head, just pulls down. Now there is 4 screws that hold the motor in place. Once you drop them, the plastic cover protector will come down along with the motor so observe carefully where it mounts back up. The motor connector will be the 3 pronged harness on the right side of the motor. The rotor position sensor will be on the left. Snap the positon sensor in and out about 8 or 9 times to get the coating off. If this doesn't work, and you keep getting the error, you will have to order the position sensor. I have had to order the harness as well in some cases. Catriver.
SOURCE: Whirlpool Cabrio HE washing machine
I work for an appliance repair company and I had a recent service call for the same exact situation on this washer. I also know that Rotary Position Sensor is linked to the F-51 error code. I have found that this is not always the case. On this paticular call the F-51 error code was caused by a piece of clothing (sock, wash cloth, etc.) being stuck or jammed between the internal basket and the outer tub. I removed the cloth and the washer ran fine, so give that a check first before you spend the money.
SOURCE: Whirlpool Cabrio W10106470 has an F51 code. What
F51 error is a rotor position sensor error, two parts really need to be replaced. 1) the rotor sensor itself ($43) and 2) the control board ($197)
SOURCE: How to fix my Whirlpool Cabrio washing machine F1 code
Hello, error F1
means primary control failure and to resolve this you’ll have to replace the
machine control assembly. To remove and replace the control you’ll have to
unplug the washer and then remove three screws from the rear of
the console assembly. Pull console towards front of washer to hinge open and/or
remove console. Then remove the one screw holding the machine/motor control
assembly to the console tray and two plastic legs on the rear of the
machine/motor control assembly that fit into the console tray.
Thanks
Testimonial: "Thanks. Where can I purchase the machine control assembly?"
SOURCE: whirlpool cabrio washer showing F51 error code
Hi Craig,
Just saw this post come up among F51 error codes (as it will show previously posted and answered questions ) and wanted to add some info I have regarding this exact issue you may or may not already have, no harm in posting either way.
The F51 typically indicates a failed "RPS" has been detecected...but it can be the result of other issues...just for future reference and if anyone has not come accross this before.
The scenario you describe is usually associated with a item stuck under the tub or a loose stator or a faulty "RPS" device or connection at the "RPS"...but I don't know if you checked that yet or if you know how, thus the error F51.
**The repair tip below is directly from Whirlpool**
F51 is usually associated with the rotor and stator/RPS assembly and quiet often it is initiated due to a loose rotor or bad RPS...I'd start by checking the bolt.
There is a repair tip regarding this which suggest checking the wires to the RPS and then the rotor, while insuring the center bolt is really tight via applying some "lock tight".
I actually see a lot of these and most times it's a loose rotor bolt, that is where I always start my diagnosis. Here's an exert from my files directly from Whirlpool...
You may want to check the rotor, I've seen the center bolt become extremely loose, thus causing the F51 error, this is where and what to look for shown below... 
...but either way that should help out with the repairs and good luck.
Regards,
Macmarkus :)
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