it is extremely unlikely that clothes have got to the position you mentioned
unbalance comes from
1--- clothes out of balance in the tub--too much on one side
2--machine not level on the floor --- rubber feet missing from adjuster bolts
3-- suspension rods and insulators for the tub broken or missing
these suspension rubbers/ plastics break on a regular basis and allow the tub to sit at an unlevel state causing an unbalance situation when spinning
top covers are either held in place with screws at the front and back ( under plastic trim buttons ) or simply clip on to the side walls at the top
talk with a service agent as to how to remove the top or download a workshop manual for the machine from the net
The F51 fault code on your Cabrio washer indicates that the control board is not sensing the proper drive motor spin. To clear the fault code, press the Pause/Cancel button.
Make sure that the drain hose is not stuck way down the stand pipe. This can cause siphoning of fill water which will inhibit proper motor rotation.
Check to see if the wash basket spins freely. If it does not, you may have an item of clothing stuck between the outer tub and the inner basket. This restriction in rotation will also cause an F51 fault code.
If these tips do not help you resolve the F51 problem, then you probably have a component failure. Possible failures include: wire harness or wire connection problem between the machine control and the RPS sensor (Rotor Position Sensor), a failed RPS sensor, a failed drive motor, and a failed machine control board.
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