Auto-Advance Mode; Manual-Advance Mode; Built-In-Test Result - iRobot Roomba 570 Service Manual

AUTO-ADVANCE MODE

This is designed to be used on the assembly line. In this mode, the robot internally decides
PASS/FAIL for each test number. The test advances automatically so each sensor or actuator is tested
only once.
In AUTO-ADVANCE mode:
o Activate the sensors for each sub-test in order as described in the chart below.
o When all sub-tests in a test number have PASSED, the Built in Test will AUTO-
ADVANCE to the next test number.
o If a test does not pass, you can press the DOCK button to MANUALLY ADVANCE to the
next test number to continue the Built-in-Test.
o The test number checks may check multiple conditions other than those which turn on the
LEDs. Therefore the test number may FAIL even though the sensors that turn on the LEDs
seem to be working. In particular, the CURRENT DRAW of each actuator must be within
acceptable limits for the test to pass.
The CLEAN LED will be RED until all sub-tests in a test number are passed, then it will turn GREEN
for a moment before advancing to the next test number.

MANUAL-ADVANCE MODE

This is designed to be used for debugging particular sensors or actuators. In this mode, the robot
DOES NOT decide PASS/FAIL for each test number. The test does not automatically advance, so
sensors or actuators can be tested as many times as necessary.
In MANUAL-ADVANCE mode:
o Use the DOCK button to MANUALLY ADVANCE to the next Built-in-Test number.
o Use the SPOT button to go back to the previous Built-in-Test number.
o The CLEAN LED will always be GREEN.
o There is no pass or fail. If you advance past the last test number, the test number will wrap
around to the first test.

BUILT-IN-TEST RESULT

When you get to the last test number, either by AUTO or MANUAL- ADVANCE:
1. If all tests PASSED, the CLEAN LED will BLINK FAST GREEN.
2. The robot can be powered off using the power button and will operate NORMALLY.
3. A serial cable and translation circuit can be used to connect the Roomba to a PC. Pressing
the CLEAN button will cause the Roomba to transmit a summary of the test results through
the serial port. These can be logged to a file. {Note : if using HyperTerminal, then select
115200 Bits and 'none' for Flow Control.}
If any test FAILED:
1. The CLEAN LED will BLINK FAST RED.
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