Since it is a Ricoh, you may have a chance, but not without help from your tech. I run 9100s and I do edge to edge (almost) printing often. I can usually hit 3 sides, with a tiny bit of white (1 or 2 points) on the fourth side which I shave on the cutter. You have to ask the tech to set the margins to absolute minimum in the service area. Once that is done, you can set the minimum margin in the paper profile to minimum (0.1 or 0.01 - don't remember). Create a new profile just for the bleed sheet. Set your paper size .1 above your dimensions. 5.1x7.1. and adjust your enlargement with and across to print slightly oversize.
I normally run merged letters with bleed letterheads on nice stock and don't even need to shave if the bleed is in the right spot. Merged certificates with borders also. I just ran a full bleed flyer 2-up on 11x17 because when the art arrived it was a bleed and all we had was 11x17 for this rush job. It printed to the edge of the 17 inch sides and had a hair of white on the ends. We trimmed a tiny gutter out of the middle and shaved the ends. Looked great and nobody notice the slight size difference.