My fisher paykel wash machine won't spin?

I have a fisher paykel ecosmart washer. When we wash a blanket with water level on high it won't spin and makes a loud grinding noise like gears in a car with manual transmission. The strange thing is after the loud noise startles you half to death and you run over and push the off button, you look inside and the tub is still full of water. Now I'm not a professional but i think the water should drain before the spin cycle begins. Any suggestions? Thanks, Rick