Hello gen0313 - From what you are describing it sounds like the unit could possibly have a broken shock/bearing or damaged tub. A certified technician will need to accurately diagnosis the bearing and pulling system behind the drum for repairs.
Hello zabbster - Typically the DR or DO error code indicates that the door switch is not closed. Make sure that the door lock is completely closed. If the door is closed, make sure the door latch is not broken. If the latch is broken, you may possibly need to replace the door lock switch.
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