iRobot Roomba 570 Service Manual - Page 59

Home Base And Docking Test

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HOME BASE AND DOCKING TEST The procedures for this test are DOCKING / NAVIGATION BEAM TEST : 1. Place the Home Base on the floor, plugged in. 2. Place the robot in front of the Home Base about 1.5 m away, within the expected beams. 3. Turn robot on with CLEAN 4. Press DOCK on the robot. 5. Verify that the robot autonomously finds the Home Base and starts charges (red light pulsing). FORCE FIELD AVOID TEST : 1. Place the Home Base on the table and plug in power. 2. Start the test robot by pressing "CLEAN" and having it face a wall. 3. The robot will attempt to start a spiral, strike the wall, and then follow the wall (right to left). 4. Verify that robot will deflect and not touch any part of Home Base when it encounters the force field. The robot must make it all the way around the Home Base. Note that if robot strikes opposite wall of the test table during test, a larger table may be needed. For the time being, it is suggested that the deflection radius is about 30 inches. Note: If Roomba strikes opposite wall then larger table must be used. 3. Roomba does not strike DoC 2. Roomba follows wall 4. Roomba follows wall 1. Start Roomba 1" from wall 59

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59
HOME BASE AND DOCKING TEST
The procedures for this test are
DOCKING / NAVIGATION BEAM TEST :
1.
Place the Home Base on the floor, plugged in.
2.
Place the robot in front of the Home Base about 1.5 m away, within the expected beams.
3.
Turn robot on with CLEAN
4.
Press DOCK on the robot.
5.
Verify that the robot autonomously finds the Home Base and starts charges (red light pulsing).
FORCE FIELD AVOID TEST :
1.
Place the Home Base on the table and plug in power.
2.
Start the test robot by pressing “CLEAN” and having it face a wall.
3.
The robot will attempt to start a spiral, strike the wall, and then follow the wall (right to left).
4.
Verify that robot will deflect and not touch any part of Home Base when it encounters the force
field. The robot must make it all the way around the Home Base. Note that if robot strikes
opposite wall of the test table during test, a larger table may be needed. For the time being, it is
suggested that the deflection radius is about 30 inches.
1. Start Roomba
1" from wall
2. Roomba follows
wall
3. Roomba does
not strike DoC
4. Roomba follows
wall
Note: If Roomba strikes opposite
wall then larger table must be used.