Sounds like the dmc clutch has failed,p/n 401080702. Also check the dmc tray lift pins on each side, chances are there is a notch worn onto the end of each lift pin. If so I recommend replacing both the clutch and dmc tray, p/n 436035901. If you replace the tray without the clutch you may continue to see the same error and the clutch tends to weaken or slip. If no notches in lift pins then you ma just need the clutch.
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