I think your sequencing mechanism is jammed. The foamed plate is a red herring. I'm assuming you can take the splash board off at the base of the kitchen unit housing your washer. This will expose a plastic plate (mine is black). Please make sure your unplug the machine while you are removing any parts. Remove the plastic plate with a splined drive. To the left, behind the plate, is a metal compoment (timer/sequencing unit) with a central spindle and loads of wires coming from the top. Place your splined drive in the centre of the spindle and click-it-on clockwise. One click should free it up. Try the machine again. Each click clockwise is a sequence in the cycle. If the arrow is at the 12 o'clock position then the machine should switch off. If the same fault happens again try a new timing unit. Try inter-spares on the net they have spares for your model.
Nigel
February 2006