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Has the belt come off the pulley or the motor pulley? If not and it is in good condition has the belt stretched and not connecting properly or the motor slipped making the belt loose? Has the main pulley bolt come loose?
Could be anything , from a loose connection or broken wire to a control board or timer fault..You say the brushes are o/k, but if they are less than 3 or 4mm long, they need replacing.
Even the motor itself could be faulty.
I assume the drive belt is o/k, and correctly tensioned..
It is difficult to advise you further because thier are too many variables involved.
Please leave your comments on my suggested solution.
We had a similar problem, where it washed okay but didn't spin and just 'beeped' with end light flashing. When the drum was empty it was not moving round very freely.
Try unplugging the machine from the electricity. Then take top off machine off so you can see the casing outside the drum. There's a small rubber tube on top. If you disconnect that you can look through into the drum. Try turning the drum round slowly while looking through the hole. We found a sock wedged in which we managed to pull out through the hole (not easy and don't expect the sock to come out in one piece).
It worked - and we've had to repeat the procedure a couple of times now. Think I must be putting too much in the machine in 1 go, although there's always space at the top.