iRobot Roomba 570 Service Manual - Page 48

Briefly put your hand in front of the center- Center Light- left light touch sensor 7 touch to simulate a well. sensors Then do the same for the center-right light touch sensor. Briefly lift robot to 8 Wheel Drop cause a wheel drop on left wheel, then right wheel. Briefly simulate a wall. Center left light-touch detected Center right light-touch detected Wheel drop left detected. Wheel drop right detected. Point a virtual wall (or 9 RCON IR Receiver home base) at the RCON IR receiver. Then point virtual wall away or turn it off. Briefly point a virtual wall (or home base) at 10* Front directional IR receivers the front left directional IR receiver. Briefly point a virtual wall (or home base) at the front right directional IR receiver. 11 Battery Sensors No user action. Make sure wheels are 12 Left Wheel in the air and unobstructed. Wait until DOCK is on solid. Then briefly stall left wheel until SPOT Left wheel turns in forward direction is on solid. Virtual-wall signal at RCON IR receiver. Virtual-wall signal at front left directional IR receiver. Virtual-wall signal at front right directional IR receiver. Battery voltage between 12 and 18 V. Thermistor present. Baseline current OK Left wheel overcurrent stall. Left motor current and encoder speed OK. Make sure wheels are 13 Right Wheel in the air and unobstructed. Wait until DOCK is on solid. Then briefly stall left wheel until SPOT Right wheel turns in forward direction. Right wheel overcurrent stall. Right motor current and encoder speed OK. is on solid. 14 Wheel Encoders Make sure wheels are in the air and unobstructed. Drive wheels turn in backward direction. Left wheel encoder signal. Right wheel encoder signal. Motor current and encoder speed OK. 48