It seems to complete cycle with light load, with a heavy load it makes a noise like not getting enough power to run motor
Highly possible that the belt is slipping and you will need to replace them, In the first place remove the back cover and check the movement of the drum , if there is friction you will need to check the bearings and the drive shaft. If you observe a slack belt or one which move freely when tugged, then you need to replace it.
Check this link for tips. How to replace the belt on washing machine Bosch
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