5D was an enhancement to gcode that was made a couple years or so ago. Most machines have been happily using it for a long time and have even moved to the successor to 5D, volumetric 5D, about 18 months ago.
Gcode files are just text files. Many, many lines of text that tell the printer what to do. A good gcode reference can be found at
http://reprap.org/wiki/G-code .
> 5D?
The short, short story is that 5D changed gcode so that all 5 dimensions (x, y, z, extrusion and time) that go into each thread of a print could be specified in a single line of gcode.
Anyway, it's not something you really need to understand if you don't want to. The E value in gcode just tells the firmware how much filament should be processed. It means different things on versions of 5D but you probably can ignore that detail, if you want.