iRobot Roomba 570 Service Manual - Page 53

Appendix B : Roomba 500 Series Mobility Test Procedure

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Appendix B : Roomba 500 Series Mobility Test Procedure The Mobility Test procedure for tests the robot's mobility and sensors across 5 different test floors, of which service centers need only conduct Test Floor 3. Test Floor # Tests Performed Floor/Fixture Test Floor 1 o light-touch-max-distance Test Floor 2 o light-touch-min-distance Test Floor 3 o wall-follow-encoder-check; o wall-follow- on tile; o corner-orbit; o tile and carpet (50: 50); o light-touch-front; o wall-follow-on carpet; o cliff-avoid- on carpet Test Floor 4 o go-rod, o cliff-avoid-on tile Test Floor 5 o ascending-wedge 53

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Appendix B : Roomba 500 Series Mobility Test Procedure
The Mobility Test procedure for tests the robot’s mobility and sensors across 5 different test floors, of
which service centers need only conduct Test Floor 3.
Test Floor #
Tests Performed
Floor/Fixture
Test Floor 1
o
light-touch-max-distance
Test Floor 2
o
light-touch-min-distance
±
Test Floor 3
o
wall-follow-encoder-check;
o
wall-follow- on tile;
o
corner-orbit;
o
tile
and carpet (50: 50);
o
light-touch-front;
o
wall-follow-on carpet;
o
cliff-avoid- on carpet
Test Floor 4
o
go-rod,
o
cliff-avoid-on tile
Test Floor 5
o
ascending-wedge