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Code 5 - Angle Sensor System (Motor lock i.e., angle sensor, wiring, ECM, control motor, motor transmission section, transmission unit)

I would perform the tests on your angle sensor to see if it is bad. Also, did you properly preload the angle sensor, or just fit it on and tighten the bolts up?
Could just be a bad connection on one of the connectors also.

When you replaced the Angle Sensor, did you follow the Initial Setting Procedure:

Initial Setting Procedure
Note:
• After replacement of any of the following parts, perform the initial setting procedure below.
  • ECM
  • Throttle sensor*
  • Angle sensor
*Also, perform the initial setting procedure if the throttle cable is disconnected (i.e., car-buretor removal/installation, cable replacement etc.).
• The gear position blinks in Indicator Mode 2 when the initial setting was not made properly. Repeat the procedure from step 2.
1. Start the engine and let it idle about one minute with the sub-transmission in neutral. Stop the engine.
2. Make sure the gearshift lever is in the neutral position (be sure the neutral indicator comes on) and turn the ignition switch off.
3. Turn the ignition switch ON while pushing the UP and DOWN shift switches (ESP shift switches) simultaneously.
4. Release both the UP and DOWN shift switches immediately, then push and release the shift switches in the order of UP, DOWN, and UP. Do not hold the switches in).
5. A constant “ - - “ indication stays ON on the gear selector indicator. (If the gear position indicator shows a continuous “N”, repeat the procedure from step 2.)
6. Move the throttle lever to the fully closed position, then to the fully open position, and then move it to the fully closed position again immediately (within 10 seconds) after “ - - “ comes ON on the gear position indicator.
7. Check the control motor operation sound (the control motor should function at this time to adjust the angle sensor).
8. When the initial setting procedure is complete, the indication on the gear selector indicator changes from the continuous lighting of “ - - “ to the continuous lighting of “N”.
 

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Did you ever figure this out? My 2007 Foreman won't shift.
  1. I received 5-blink code so I replaced the shift motor and the ES started working again for a day.
  2. Then I received 3-blinks code, replaced the angle sensor, 3-blink code went away and now the 5-blink code immediately came back.
Any clues? Thanks.
 
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