iRobot Roomba 570 Service Manual - Page 49

Robot in Home Base.

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15 Stasis Turn the front caster. Stasis signal (caster rotation switch). Make sure brush is unobstructed. Wait until DOCK is on and Main brush 16 Main Brush solid and brush is turns in turning forward. Then backwards briefly stall the main then turns Brush overcurrent stall. Brush current OK brush until DOCK and forwards. SPOT are on and solid 17 Debris Briefly place robot in debris pile on left side. Briefly place robot in debris pile on right side. Main brush turns on. Debris detected Debris detected 18 Vacuum No user action. Vacuum turns on. Vacuum current OK. Make sure side brush 19 Side Brush is unobstructed. Wait until DOCK is on and side brush is turning counterclockwise. Then briefly stall the side brush motor until DOCK and SPOT are Side brush turns clockwise, then turns counterclock wise. Side brush stall. Brush current OK on and solid. 20 Plug-in Charger Precharge Plug in the plug-in Power Supply. 21 Plug-in Charger On No user action. Plug-in 22 Charger Trickle No user action. 23 Charger Watchdog No user action. 24* Dock / WallMount Charger Precharge Remove the plug-in Power Supply. Place Robot in Home Base. Dock / Wall- 25* Mount No user action. Charger On Plug-in charger available. Plug-in charger available. Plug-in charger available. Plug-in charger available. Dock / WallMount charger available. Dock / WallMount charger available. Recovery current OK Charging current OK Trickle current OK Baseline current OK Recovery current OK Charging current OK 49

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49
15
Stasis
Turn the front caster.
Stasis signal
(caster
rotation
switch).
16
Main Brush
Make sure brush is
unobstructed.
Wait
until DOCK is on and
solid and brush is
turning forward.
Then
briefly stall the main
brush until DOCK and
SPOT are on and
solid
Main brush
turns in
backwards
then turns
forwards.
Brush
overcurrent
stall.
Brush current
OK
17
Debris
Briefly place robot in
debris pile on left side.
Briefly place robot in
debris pile on right
side.
Main brush
turns on.
Debris
detected
Debris
detected
18
Vacuum
No user action.
Vacuum
turns on.
Vacuum
current OK.
19
Side Brush
Make sure side brush
is unobstructed.
Wait
until DOCK is on and
side brush is turning
counterclockwise.
Then briefly stall the
side brush motor until
DOCK and SPOT are
on and solid.
Side brush
turns
clockwise,
then turns
counterclock
wise.
Side brush
stall.
Brush current
OK
20
Plug-in
Charger
Precharge
Plug in the plug-in
Power Supply.
Plug-in
charger
available.
Recovery
current OK
21
Plug-in
Charger On
No user action.
Plug-in
charger
available.
Charging
current OK
22
Plug-in
Charger
Trickle
No user action.
Plug-in
charger
available.
Trickle
current OK
23
Charger
Watchdog
No user action.
Plug-in
charger
available.
Baseline
current OK
24*
Dock / Wall-
Mount
Charger
Precharge
Remove the plug-in
Power Supply.
Place
Robot in Home Base.
Dock / Wall-
Mount
charger
available.
Recovery
current OK
25*
Dock / Wall-
Mount
Charger On
No user action.
Dock / Wall-
Mount
charger
available.
Charging
current OK