Being Whipped by Whirlpool

Have a Whirlpool Duet washer that gives a F06 error code. Stops (regardless of cycle) each time it gets to the spin part of the cycle. Occasionally (but no more) have gotten it to spin by turning drum a half turn by hand then restarting cycle. Any idea if problem is MCU or could it be drive motor? Motor is showing 6 ohms on each test of contacts. Anyone have a link to a SERVICE manual PDF for a GHW9400PT4?