Not sure this answer will help, but it's some background info to your fault.
Had the same message on our CR01. It's a gearbox fault (both drums are locked together, you'll notice it works but the drums no longer contra-rotate). It's also much noisier than usual. Dyson engineers came out and fitted a complete new drum assembly free of charge. Their advice prior to the change was to run the machine on duvet mode, then it doesn't try to contra-rotate, still washes OK and won't give the error code
Mark
January 2006