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F21 means that your washer is not draining. There is a drain catch inside the washer that you will want to access and clean if you're getting this drain error. To access the drain catch, tip the machine backwards and lean it against the wall at a 45 degree angle or so. Remove the 3 screws along the bottom of the lower front panel. The lower front panel will then pull down and off. There is a 3" diameter plastic twist cap directly under the tub mounted to the floor. This is your drain cap. Unscrew the cap and clear any debris inside the drain catch. If you find nothing and the drain hose is clear, replace your drain pump. It sounds like you're going to find a ton of rubber type backing in the pump and hose going to the pump would be my guess if you just washed a rug.
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