The 016-317 on this printer refers to the printer not being able to communicate with the MCU board. This is what you should do. This was pulled from support.dell.com. Which is the same troubleshooting trees as the phone/internet agents use. If this doesn't solve your issue, you will more than likely need to update the firmware of the printer, or replace the board. STEP: Reseat the controller card on the 5100cn-series printer.
CAUTION: Before you perform any of thefollowing steps, read the Precautionary Measures warning (located inthe Resources/Additional Resources section) for your personal safetyand to prevent damage to the computer system from electrostaticdischarge.
To reseat the controller card, perform the following steps:
Make sure that the printer is turned off and unplug all cables including the power cord from the rear of the printer.Pull the tray rear cover so that the top edge tilts out, then lift the tray rear cover off its hinges. (Figure 1)
Figure 1 - Remove the Tray Rear Cover
Remove the three screws on the control board from the back side of the printer. (Figure 2)
Figure 2 - Remove the Three Screws
Remove and reinsert the controller card from the printer by the handles. (Figure 3)
Figure 3 - Reseat the Controller Card
Tighten the three screws on the control board on the back side of the printer.Reattach the tray rear cover to the back of the printer.