My Fisher & Paykel Washing machine is stopping mid cycle?

Hi,

My Fisher & Paykel washing machine is stopping two thirds of the way through a cycle, and beeping. When it stops, it is full of water - so perhaps it is stopping before draining the final rinse?

I have tried restarting it, but it stops in exactly the same place every time, and beeps.

I tried draining the water by skipping to the last part of the cycle (spin), and this wouldn't work over the weekend, however this morning it did drain... but did not spin at the same time (on the spin setting)...

Can you help me at all?