Related Manuals for iRobot Roomba Scheduler
Summary of Contents for iRobot Roomba Scheduler
- Page 1 Roomba Discovery Series Service Manual Published August 31 2006 Roomba Scheduler Roomba Discovery SE Roomba Discovery Roomba Sage Roomba Red...
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Page 2: Table Of Contents
14: Test Remote (if applicable) _______________________________________________________ 11 15: Replace Faulty Accessories _______________________________________________________ 11 16: Pack & Record the Serial Numbers ________________________________________________ 11 17: Monthly Data Report to iRobot ___________________________________________________ 12 Roomba Vacuuming Robot ______________________________________________________ 13 Roomba Terminology_______________________________________________________________ 13 Roomba Chassis Disassembly Procedure _______________________________________________ 14... - Page 3 Appendix F: Roomba Built-in-Test Procedure_______________________________________ 56 iRobot Data Capture _______________________________________________________________ 61 Alternative Data Capture ___________________________________________________________ 61 Built-in-Test Output File (using iRobot Roomba Factory-Test-Client Version 1.1) ____________ 62 Appendix G: Roomba Built-in-Test Limits __________________________________________ 63 Appendix H: Roomba Mobility Test Procedure ______________________________________ 64...
- Page 4 Appendix L: Built-in-Test Toolbox kits_____________________________________________ 71 Appendix M: Disassembly Procedure ______________________________________________ 72 Roomba Chassis Disassembly Procedure _______________________________________________ 72 Roomba Cleaning Frame Disassembly Procedure _______________________________________ 73 Roomba Main PCB & Inner Bumper Removal Procedure ________________________________ 75 Roomba Wheel Disassembly Procedure ________________________________________________ 77 Roomba Fixed Caster Removal Procedure _____________________________________________ 79 Roomba Swivel Caster Removal Procedure_____________________________________________ 80 Roomba Swivel Optical Stasis &...
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Page 5: Roomba Service Process
The steps that involve record keeping will enable iRobot to better track and support product improvements. iRobot requires the data to be sent to them in a standardized manner but it is up to every Service Center to decide how detailed they require their record keeping to be. -
Page 6: 01: Customer Call
At a minimum, iRobot recommends that the customer be asked to perform routine Roomba maintenance steps to resolve the Roomba issue. Only if these steps fail to resolve the issue should a customer send the Roomba to a service center. -
Page 7: 02: Roomba Return Procedure
02: Roomba Return Procedure If the initial maintenance steps did not solve the issue, a customer should proceed to return the Roomba, battery and all accessories to a service center. The customer should add documentation that provides the date, their name, address, a reference number and a description of the complaint. In order to avoid receiving a depleted battery, ask the customer to remove battery from the Roomba and place it separately in the box. -
Page 8: 04: Roomba Cleaning
Reinsert all Roomba components (bearings, brushes, wire guard, side brush and vacuum bin). Insert *approved* charged battery in the Appendix D Roomba and run the Roomba on ‘Clean’. Does the Roomba end immediately with an error code? If not, continue. 04: Roomba Cleaning Remove and empty the vacuum bin and vacuum filter. -
Page 9: 06: Roomba Diagnostics: Built-In-Test (Bit)
Take special notice of the button & Appendix C speaker performance. 07: Capture Built-in-Test Data Use “iRobot Factory Test Client Version 1.1” software to download Appendix F the BiT output. 08: Roomba Diagnostics: Mobility Test Perform the Mobility Test. -
Page 10: 10: Test Battery
10: Test Battery Fully charge the returned Battery in an *approved*Roomba. Appendix J Perform Battery test o Battery Voltage Troubleshoot o Battery Voltage Drop with a 5 ohm load Battery (pg o Thermistor value [Note: If only battery voltage was low, attempt an uninterrupted 72 hour charge and repeat test. -
Page 11: 13: Test Virtual Wall (If Applicable)
Record the ‘Power Supply Code’ Appendix C 13: Test Virtual Wall (if applicable) Test returned Virtual Wall with charged batteries Troubleshoot o Clean Virtual Wall (IR emitter) Virtual Wall o Check power light (if blinking then batteries are low) (pg 43) o Check Virtual mobility (Fig 4 in Appendix Record... -
Page 12: 17: Monthly Data Report To Irobot
17: Monthly Data Report to iRobot Send monthly report to iRobot (tgiesecke@irobot.com) 1. A zipped up file of monthly Built-in-Test output files. The zip file should have a name format of YYYYMM_RoombaBiT_##.csv Appendix C where ## is the name of the service center. Save the file as a CSV (comma delimited). -
Page 13: Roomba Vacuuming Robot
Roomba Vacuuming Robot Roomba Terminology IR Receiver / RCON Bumper Handle Chassis Wall Sensor User Interface (UI) Vacuum Bin Charging Socket Serial Port Front Caster Contacts Cliff Sensors Battery Cleaning Frame Brush Guard Side brush Flexible Brush Drive Wheel Cleaning Assembly Debris Sensor Vacuum Inlet Main Brush... -
Page 14: Roomba Chassis Disassembly Procedure
Roomba Chassis Disassembly Procedure o Remove Vacuum Bin o Unscrew bumper screws (1) o Unscrew chassis screws (2,3,4,5) o Unscrew side brush if necessary (6) -
Page 15: Roomba Electrical Inter-Relationships
Lift outer bumper slowly (it is attached by a connector) Angle the bumper outward and carefully disconnect connector from outer bumper Lift top shell slowly (it is attached by a connector). Carefully disconnect the connector from Roomba. Clean off the internal dirt with compressed air. Go to Appendix M for details on how to remove the Cleaning Frame, PCB, Inner Bumper, Diver... -
Page 16: Service Procedure (Based On Built-In-Test Failures)
Every Roomba return is required to undergo a Built-in-Test (BiT) and a Mobility Test (MT) which will then dictate how to best service the Roomba. iRobot requires that only the initial BiT output file be recorded and sent back to iRobot on a monthly basis. However, a service technician will repeat the BiT numerous times during the servicing of a Roomba. -
Page 17: Failed Bit 0 - Panel Leds
Failed BiT 0 - Panel LEDS Roomba Symptom: Roomba lights do not turn on. Connect an *approved* top shell to Roomba and redo BiT step. If BiT step passes, Roomba is working and we should now inspect the failed top shell. Inspect wiring and soldering under the failed top shell. -
Page 18: Failed Bit 1 - Bumpers
Failed BiT 1 – Bumpers Roomba Symptom: Roomba may back up and circle with no error code. Clean area where bumper arms meet the IR sensor housing on pcb with compressed air. If test still fails remove arms (see Appendix M) and wipe sensors in housing with alcohol. -
Page 19: Failed Bit 2 Or 3 - Outer & Inner Cliff Sensors
Failed BiT 2 or 3 – Outer & Inner Cliff Sensors Roomba Symptom: Roomba does not see cliffs or o Does not run, says “ehh” o Backs up in circular arcs o Stops with “uh-oh and 5 beeps” Clean the sensors with compressed air. Is the side brush blocking the outer sensor? Rotate the side brush arms away from the cliff sensor opening. -
Page 20: Failed Bit 4 - Wheel Drop
Failed BiT 4 – Wheel Drop Roomba Symptom: Roomba has triangular wiggle behavior at startup or stops with “uh-oh and 6 or 9 beeps”. Inspect the failed wheel switch and toggle it. If the switch arm is worn or broken, then replace the switch. Clean the switch with a drop of alcohol and dry switch with compressed air. -
Page 21: Failed Bit 4 - Wall Sensor
Wheel Drop Switch Outer Bumper Assembly o If replacing switch, verify the wires are well routed and will not be pinched during reassembly. o Ensure BiT passes. Failed BiT 4 – Wall Sensor Roomba Symptom: Roomba does not run parallel to the walls on its right side. -
Page 22: Failed Bit 5 - Rcon / Ir Receiver
Failed BiT 5 – RCON / IR Receiver Roomba Symptom: Crosses Virtual Wall beams, hits accessories, and does not respond to the Remote. Wipe the RCON on top of bumper. Retest. Detach outer bumper and inspect wiring under the bumper. Plug in an *approved* outer bumper and retest with accessories to rule out pcb failures. -
Page 23: Failed Bit 7, 8 Or 9 - Drive Wheels & Encoders
Battery o Ensure BiT passes. Failed BiT 7, 8 or 9 – Drive Wheels & Encoders Roomba Symptom: o Roomba spins both forward and backward in circles and may end in “uh-oh and 4 beeps”. o Wheels may not turn or sound loud. If the wheel tests fail or sound bad: Put the Roomba on its back and manually turn the wheel. - Page 24 Drive Belt Right/Left Wheel Assembly o Ensure BiT passes. o Verify wires are well routed and not pinched by the wheel cover. o Verify the wheel supports are screwed in.
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Page 25: Failed Bit 10 - Stasis (Front Wheel)
Failed BiT 10 – Stasis (front wheel) Roomba Symptom: o Roomba will take longer to get unstuck. o Roomba will abruptly interrupt its cleaning path with a quick panic spin (left or right spin) If the fixed caster stasis fails, the mechanical switch may have failed: Manually spin the wheel and verify that there is no hair in the axle and that it can spin fairly freely. -
Page 26: Failed Bit 11 - Main Brush
Failed BiT 11 – Main Brush Roomba Symptom: o Roomba does not clean or o Brushes do not spin or sound loud Roomba ends with error “uh-oh and 1 beep”. If the main brush test fails or sounds loud: If the brush motor is not running, try connecting an *approved* cleaning assembly to pcb main brush connector and run test. -
Page 27: Failed Bit 12 - Debris Sensor
Output Gears Brush Motor, Gearbox, Shaft o Ensure BiT passes with returned or replaced brushes o Verify the string is attached to the chassis Failed BiT 12 – Debris Sensor Roomba Symptom: Roomba’s blue light never comes on in a dirty environment. Verify the debris sensor is not covered in dirt. -
Page 28: Failed Bit 13 - Vacuum
o Ensure BiT passes. o If replacing Main Brush Assembly with a single debris sensor version, it will not run with software older than 2005-10-04-1308. o Verify string is attached to the chassis Failed BiT 13 – Vacuum Roomba Symptom: o Roomba does not clean or Roomba ends with error “uh-oh and 3 beeps”... -
Page 29: Failed Bit 14 - Side Brush
Failed BiT 14 – Side Brush Roomba Symptom: o Roomba side brush does not turn or is loud o Roomba ends with “uh-oh and 2 beeps”. Verify the side brush has been cleaned. Attach an *approved* side brush into the pcb and retest. -
Page 30: Failed Bit 15-20 - Charging
Failed BiT 15-20 – Charging Roomba Symptom: Roomba is not charging. If the internal charging fails (steps 15-17): Verify the Power Supply and Home Base are working and *approved* Verify Power Supply is correctly plugged into the Roomba. If step still fails, replace pcb. If the external charging fails (steps 18-20): Verify the Roomba is properly docked on the Home Base and both lights are on the Home Base. -
Page 31: Precautionary Replacements
Precautionary Replacements Speaker Replace if it failed to work. Brush Bearing A holed bearing will protect the cleaning assembly best as it allows dirt to from failing by allowing dirt not to compact in the bearing and stress the cleaning frame. -
Page 32: Charging Accessories
Charging Accessories Battery Power Supply Home Base Rapid Charger... -
Page 33: Roomba Battery
Roomba Battery Batteries are made of 12 NiMH (nickel metal hydride) cells. It has a thermistor to measure battery temperature and a +ve and –ve contact. Skid pads thermistor -ve contact +ve contact... -
Page 34: Battery Types
Battery Types Yellow APS Battery Black Battery • 3000 mAH • not in production • ~500 cycle life • 2600 mAH • 110 min runtime (hard floor) • 55 min runtime (medium pile carpet) Battery Insertion Technique • Hold the Battery with the Roomba logo facing up and place Battery over the battery well. •... -
Page 35: General Battery Maintenance Tips
General Battery Maintenance Tips • Keep the battery charging at all times unless in use. • If Roomba is not going to be used for an extended period of time, charge battery first and then take battery out of Roomba and store separately in a cool place away from sourced of heat or direct sunlight. -
Page 36: Roomba Power Supply
Roomba Power Supply Roomba’s are charged by either a Universal (100-240V) or Domestic (120V) Power Supply. The Power Supply steps the voltage down to 22VDC and 1.25A. The power light on the Power Supply is an indication that it is plugged in and operating properly. Power Supply Generations Generation 1 Generation 1A... -
Page 37: Roomba Home Base
Roomba Home Base The Roomba Home Base is a self-charging station where the Roomba (through a sophisticated infrared tracking mechanism) can drive back to at the end of a clean cycle or when its battery is low. After docking itself, the Roomba will recharge its battery. The charging sequence takes about three hours with the fast APS power supply (grey) and six hours with the slow power supply (black). -
Page 38: Manual Docking
Manual Docking To manually test the ability of the Roomba to dock successfully on the Home Base: 1. Verify that the Home Base is plugged in and that the power light is on. 1. Place the Home Base in a relatively open and flat area without any obstacles. 2. -
Page 39: Home Base Generations
Home Base Generations A modified Home Base was necessary to compliment the Roomba swivel caster design. The modifications are listed below. Home Base Troubleshooting • The power light on the Home Base must be on and solid green while charging. If not, check the connection and the charging brick. -
Page 40: Rapid Charger
The Rapid Charger was designed to charge the 2600 mAH black Battery in 2.5 hrs. Although the Rapid Charger can be used for the 3000 mAH yellow Battery, iRobot recommend that all batteries be charged in a Roomba. This is to make use of the Roomba charging sequence that initially... -
Page 41: Roomba Accessories
Roomba Accessories Virtual Wall Remote Filters Bristle Brush Flexible Brush Side Brush... -
Page 42: Roomba Virtual Wall
Roomba Virtual Wall The Virtual Wall emits an invisible, infrared beam up to 13 feet (~4 meters) long that Roomba regards as a barrier and will not cross. The beam is keyhole shaped and can get up to 3 feet wide (~1 meter). -
Page 43: Virtual Wall Generations
Top view of Virtual Wall and beam spread Virtual Wall Generations Silver Virtual Wall Slim Virtual Wall Scheduler Virtual Wall Beam Angle : 24 deg Beam Angle : 27 deg Beam Angle : 27 deg Diameter : 0.8 m Diameter : 0.6 m Diameter : 0.6 m Virtual Wall Troubleshooting •... -
Page 44: Roomba Remote
Roomba Remote The Roomba Remote enables you to perform a variety of tasks with your Roomba without touching the robot. It is compatible with all new Roomba models (except Roomba Original). Remote Troubleshooting • The light above the buttons comes on when a button is depressed. If not, replace the batteries. •... -
Page 45: Roomba Filter
Roomba Filter Roomba’s filter is designed to keep Roomba’s vacuuming system clear of debris. For maximum vacuum power, the filter should be cleaned and inspected after every use. If desired, the filter can be hand washed with soap and water but needs to be thoroughly dried before use. If punctured, replace the filter. -
Page 46: Bristle, Flexible And Side Brush
Bristle, Flexible and Side Brush Roomba’s brushes pick up debris from floors and direct it towards into the vacuum bin. For maximum Roomba life, the brushes should be cleaned and inspected after every use. Brush Troubleshooting • Remove and clean the brushes and inspect for tears •... - Page 47 Appendices...
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Page 48: Appendix A: Charging Troubleshooting Flowchart
Appendix A: Charging Troubleshooting Flowchart ♦ ♦ ♦ WARNING: The Power Supply, Home Base and pcb need to be replaced if the lights are OFF or BLINKING. If only partial replacement, a compromised Roomba could fail by overheating. -
Page 49: Appendix B: Serial Number Format
Appendix B: Serial Number Format Robot ASCII Serial Number Format (ASCII sticker in battery well) LLLL Model number Year (since 2000) this robot was manufactured Month this robot was manufactured Day of the month this robot was manufactured CPU type: E or EA if E128 chip, empty if DG256 chip ssss Order that robot was made on date of manufacture Robot Barcode Serial Number Format... - Page 50 Battery Serial Number Format (ASCII debossed in plastic) o YYMMDD XXX Power Supply Serial Number Format (ASCII number on sticker) o YYMMDD or AYYMMDD o The P on the plastic indicates it has been reworked. If “P” exists on the plastic, then add this to the end of the serial number.
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Page 51: Appendix C: Roomba Code List
Appendix C: Roomba Code List Record Sheet Example Code List Customer Complaint Code Robot Condition Code Roomba BiT Code CC00-Complaint NONE RC00-Condition NEW RB00-BiT PASS CC01-(Cleaning) Brush Assembly RC01-(Brush) lightly soiled RB01-(BiT0) user interface / buttons RC02-(Brush) dirty RB02-(BiT0) speaker CC02-(Cleaning) Vacuum Assembly RC03-Condition - OTHER RB03-(BiT0) chassis... - Page 52 Roomba MT Code Battery Code Power Supply Code RM00- MT PASS B00- PASS PS00-PASS RM01-fails initial spiral B01-voltage low PS01-voltage low RM02-fails to wall follow B02-voltage high PS02-voltage high RM03-fails cliff B03-voltage drop fail PS03-current low RM04-fails to dock B04-low run time PS04-current high RM05-fails rod transition B05-thermistor...
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Page 53: Appendix D: Roomba Error Codes
Appendix D: Roomba Error Codes Roomba Says What It Means What You Should Do Plays 4-note song The battery is • Connect Roomba to the Power Supply or Home Base and recharge the battery. as power button low and needs blinks RED recharging “Ehh”... -
Page 54: Appendix E: Roomba Software & Osmo
Appendix E: Roomba Software & OSMO Roomba Roomba’s software is continuously being updated and implemented in newest Roombas. When a Roomba is serviced it is best practice to update the Roomba with the latest software code. Robot Production Software Date Tag Features OSMO version Implementation... - Page 55 To determine OSMO software version, inspect the OSMO date code. OSMO Date Code OSMO Date Code OSMO Version # JEN1387Xyymmdd01xxxxxx Version 1 (-1707) JEN1387Xyymmdd02xxxxxx Version 2 (-1308) JEN1387Xyymmdd03xxxxxx Version 3 (-1814) OSMO Download procedure...
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Page 56: Appendix F: Roomba Built-In-Test Procedure
Appendix F: Roomba Built-in-Test Procedure Put Roomba into built-in-test mode: 1. Power Roomba OFF by pressing the POWER button. 2. Hold down the SPOT and CLEAN buttons. 3. Power Roomba ON by pressing the POWER button. 4. Keep holding down the SPOT and CLEAN buttons for about 0.5 SECONDS until you hear a series of ASCE NDING BEEPS and the user panel LEDs start flashing. -
Page 57: Auto-Advance Mode
In the MAIN BUILT-IN-TEST (all test numbers except 0): • Each TEST NUMBER has multiple SUB-TESTS. • The SPOT and CLEAN LEDs indicate when the sensors are activated. • The STATUS LED indicates whether the current draw is within correct range where appropriate. -
Page 58: Manual-Advance Mode
o If any test FAILED: The POWER LED will BLINK FAST RED. The robot CANNOT be powered off and will not respond to any buttons until the BATTERY IS REMOVED. MANUAL-ADVANCE mode 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. - Page 59 Rcon IR Point a virtual wall at the Virtual-wall Remote signal Receiver rcon IR receiver. Then signal at rcon at rcon IR point the virtual wall away IR receiver. receiver or turn it off. Point a remote control at the rcon IR receiver and briefly press any button except Power.
- Page 60 Plug-in Plug in the plug-in charger. Plug-in Pre-charge Charger charger current OK. Precharge available. Plug-in Plug-in Charge Charger On charger current OK. available. Plug-in Plug-in Trickle Charger charger current OK. Trickle available. Home Base / Remove the plug-in Home Base / Pre-charge Wall-Mount charger.
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Page 61: Irobot Data Capture
Built-in-Test Data Capture Procedure iRobot Data Capture o Run the “iRobot Roomba Factory-Test-Client Version 1.1” software (2006-02007-1059). o Bring the Roomba and *approved* accessories to the computer. o Manually enter the Roomba’s Serial Number or press “quit” to exit program o Manually enter the Roomba’s source. -
Page 62: Built-In-Test Output File (Using Irobot Roomba Factory-Test-Client Version 1.1)
Built-in-Test Output File (using iRobot Roomba Factory-Test-Client Version 1.1) Software date tag SUMMARY: START SUMMARY: TIMESTAMP Fri Jun 30 07:09:35 2006 SUMMARY: DATE-TAG 2005-10-04-1308-L SUMMARY: (baseline-current-ok?) PASS mA -91 min -202 max -13 mV 15279 degrees-C 20 SUMMARY: (left-drive-current-ok?) PASS mA -176 min -326 max -117 mV 15251 degrees-C 20... -
Page 63: Appendix G: Roomba Built-In-Test Limits
Appendix G: Roomba Built-in-Test Limits The following are the limits used to PASS or FAIL a Built-in-Test. Tested in Description BiT # Battery Voltage Battery Temperature (C) 5°C 60°C 7,8,11,13,14 Baseline Current -202 mA -13 mA Left Drive Current -326 mA -117 mA Left Drive Stall Current -749 mA... -
Page 64: Appendix H: Roomba Mobility Test Procedure
Appendix H: Roomba Mobility Test Procedure Figure 1 - Parts of the Test Table Figure 2 - Spiral, Wall Following, and Cliff Test... - Page 65 Figure 3 - Threshold Crossing Test 1. Start Roomba by pressing POWER and then CLEAN. As soon as it starts press CLEAN again to pause it. Line up the Roomba and press CLEAN again - it will run in a straight line.
- Page 66 Figure 5 - Home Base Force Field Test 3. Ammeter 1. Start the Roomba by pressing indicates full CLEAN and SPOT at the same charging current time of 1.00 to 1.45 A 2. Roomba follows the docking beams and docks correctly the first time No more than 60"...
- Page 67 3. Ammeter 1. Start the Roomba by pressing indicates full CLEAN and SPOT at the same charging current time of 1.00 to 1.45 A 2. Roomba follows the docking beams and docks correctly the first time No more than 60" Figure 7 - Docking on Smooth Floor Test Mobility Table Construction Specifications (in mm)
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Page 68: Appendix I: Pcb Connector Designation
Appendix I: PCB Connector Designation Side 1 Brush motor Vacuum contacts Right wheel switch Speaker & left wheel switch Left wheel Debris Top Panel Right Wheel Side brush Charging Socket Serial Port Side 2 Bumper - wall sensor Battery Caster drop switch &... -
Page 69: Appendix J: Battery Test Procedure
Appendix J: Battery Test Procedure Using Battery Voltage Tester To measure voltage across a Roomba battery, to measure voltage across a 5-Ohm resistor, and to measure the thermistor Objective : resistance. Equipment : Battery Voltage Tester, Multimeter, and fully charged battery under test. Method Fully charge battery with Roomba and latest software. -
Page 70: Appendix K: Power Supply Test Procedure
Appendix K: Power Supply Test Procedure For 1.25A FAST Power Supply Equipment:AC Voltmeter, DC voltmeter, ammeter, variable voltage AC supply, power resistor (18 ohm 50 W for 1.25 A charging brick). Method Plug power supply into variable voltage AC supply with AC voltmeter connected across AC supply. Connect resistive load across output of power supply, with DC ammeter connected in series to measure current supplied to load. -
Page 71: Appendix L: Built-In-Test Toolbox Kits
Appendix L: Built-in-Test Toolbox kits These stripped down versions make it easier to attach and perform Built-in-Tests while fixing Roombas. Source Toolbox version Bumper connector UI Connector... -
Page 72: Appendix M: Disassembly Procedure
Appendix M: Disassembly Procedure Roomba Chassis Disassembly Procedure o Remove Vacuum Bin o Unscrew bumper screws (1) o Unscrew chassis screws (2,3,4,5) o Unscrew side brush if necessary (6) Lift outer bumper slowly as it is attached by the connector Angle the bumper outward and carefully disconnect connector from outer bumper... -
Page 73: Roomba Cleaning Frame Disassembly Procedure
Lift top shell slowly as it is attached by a connector. Carefully disconnect the connector from Roomba. Clean off the internal dirt with compressed air. Roomba Cleaning Frame Disassembly Procedure Unscrew string mount and keep the string attached to the holder. Disconnect the string mount from the chassis. - Page 74 Feed brush motor connector under the wire router (unscrew the wire router if you have problems releasing the wires). Remove the (4) screws below the drive wheels (secures side holders for the cleaning frame pivot arms). Lift two side holders from the main body Remove cleaning frame assembly.
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Page 75: Roomba Main Pcb & Inner Bumper Removal Procedure
Lift the side gear box cover to inspect gears. Clear of hair and apply lubricant grease if necessary. Roomba Main PCB & Inner Bumper Removal Procedure Unscrew the mounts (4) holding down the pcb on the edges. Detach all the connectors attached to the pcb. Swing the inner bumper arm towards the pcb and outwards to disengage it. - Page 76 Lift the pcb out of the chassis. Slide the charging plug out and release the wire from the wire routing features. To remove the inner bumper, lift the bumper vertically...
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Page 77: Roomba Wheel Disassembly Procedure
Roomba Wheel Disassembly Procedure Release the wheel spring. Unscrew (2) wheel support screws. For certain models remove the chassis bridge. Twist wheel out of the chassis but do not detach wires and connectors for general wheel maintenance. Unscrew (4) wheel cover screws. Carefully lift wheel cover (A), Inspect drive belt (B), Clean wheel encoders sensors (C) with alcohol pad. - Page 78 Verify the belt is not worn or broken and replace if needed. Close the wheel cover and verify it is correctly aligned and snapped into place. Guide wires through wire tabs and verify the sensor wires are NOT pinched. Inspect the wheel supports and replace if bent or deformed.
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Page 79: Roomba Fixed Caster Removal Procedure
Roomba Fixed Caster Removal Procedure Disconnect the caster connector (green/purple) and guide the wires out of the wire tabs. Unscrew the spring cover and remove it. Release and remove the springs (2) underneath. Remove triangular screws (4) and caster guides that hold in the caster. -
Page 80: Roomba Swivel Caster Removal Procedure
Roomba Swivel Caster Removal Procedure Squeeze in the caster guide rails and pull the caster assembly out of the chassis. To remove the wheel, place flat head screwdriver under wheel and twist up. Roomba Swivel Optical Stasis & Switch Removal Procedure Disconnect the optical stasis &... - Page 81 Remove caster drop switch from the chassis. Unscrew the spring cover and remove it. Release and remove the springs underneath. Disconnect the optical connector. Remove screw that holds down optical pcb Lift board off the chassis.
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Page 82: Appendix N: User Interface
Appendix N: User Interface User Interface : POWER Light... -
Page 83: User Interface : Status Light
User Interface : STATUS Light User Interface : DIRT Detect... -
Page 84: Appendix O: Roomba Engineering Changes
Appendix O: Roomba Engineering Changes Change outboard housing from POM to GF NYLON which has a 2004-11-07 Gearbox Housing higher melting temperature. Serial Port Bevel the metal housing to reduce shorting between the hot tab of 2004-11-15 Housing the charging jack and the ground casing of the serial port. Side Brush 2004-12-03 Change black bristles to white bristles which are transparent to IR... - Page 85 Enlarge diameter and height of the four elastomeric feet at screws to 2005-06-08 increase traction on smooth floors. Home Base does not slide when Home Base Feet robot docking. Wheel Hole 2005-06-23 Close axle hole to reduce migration of dust under wheel cover. Change front caster material from Acetal to Nylon 801 (also black).
- Page 86 New caster swivels 360 degrees. Stasis detection is optical. Wheel is Swivel Caster 2006-06-24 also removable. New extended home base to compliment swivel caster. Also Home Base 2006-06-15 eliminated weights and paint Slim Virtual Wall 2006-06-28 Results in smaller packaging Seal Gearbox 2006-07-13 Seals gearbox from dirt infiltration...
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Page 87: Appendix P: Glossary
Appendix P: GLOSSARY o a component that is considered functional and used to verify *approved* faulty components during Built-in-Test o Advanced Power System o Built-in-Test Chassis o The plastic frame of the Roomba o The Roomba symptom where robot circles continuously. This Circle Dance can be caused by dirty encoders, broken drive belts, broken wheel IR, clogged bumper IR as so forth.