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I am getting a code F51 along with lot of noise.

When machine starts with load, it sounds like something stripped or loose and I can get the code F51. Also seems to get confused as to what part of cycle it is on. Removed agitator and all seems well here. How do I get to bottom nut to see it has come loose or something down there is stripped?

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I get the F51 error code

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I have this probably with my washer so how do I check it

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