I have a Haier ESD200 (could be a 201 or 202 also) that does not seem to switch from the wash cycle to the rinse cycle. It has ran as long as 2.5 hrs and still has not completed the cycle. If I finally cancel the cycle and reset it to run just the rinse cycle, it finishes like it is supposed to. Any ideas?
(Water temp is right at 120 degrees.)

Just in case Grinager does not get back to you.

I cannot find any tech data on this unit so have to do some guessing.

Often what you describe is due to a heater problem.
The water never gets up to a set point temperature so the unit does not advance.
If the unit has a cycle that does not heat up the water try that.

Many units have a heater with a thermal cut-off wired in series with it.
Check the heater with a meter (often around 20 ohms)
Check the cut-off thermostat should be 0 ohms.
Check the wiring from the control board to the heater.

Some units use a thermostat to control the temperature, it should be 0 ohms.
Other units use a thermistor. It should have continuity but I do not know what the resistance should be.

If all OK then odds are that it is the control board.