John M New Castle , PA March 12, 2015 Appliance: Whirlpool Washer WTW6200SW1 Whirlpool Washer Wtw6200sw1: F51 error code on whirlpool cabrio. How to replace Rotor Position Sensor Kit. I followed the instructions in the online video and the part replacement went fine. The error code is gone and the machine is working as it should. A cordless drill/driver with a couple nut driver bits helps a lot with the removal of the numerous screws. 4 People found this story helpful Do-It-Yourself Rating: Repair Time Estimate: 30-60 minutes