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.
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