iRobot Roomba Discovery, Service Manual

Page: 59 / 87

59
5 Rcon IR
Receiver
Point a virtual wall at the
rcon IR receiver. Then
point the virtual wall away
or turn it off.
Point a remote control at the
rcon IR receiver and briefly
press any button except
Power. Virtual-wall
signal at rcon
IR receiver.
Remote signal
at rcon IR
receiver
6 Battery
Sensors
No user action. Battery
voltage
between 12
and 18 V. Thermistor
present. Baseline
current OK.
7 Left Wheel Verify the wheels are in the
air and unobstructed. Wait
until STATUS LED is
green. Then briefly stall
left wheel. Left wheel
turns in
forward
direction Left wheel
over current
stall. Left motor
current and
encoder
speed OK.
8 Right Wheel Verify the wheels are in the
air and unobstructed. Wait
until STATUS LED is
green. Then briefly stall
right wheel. Right wheel
turns in
forward
direction. Right wheel
over current
stall.
Right motor
current and
encoder
speed OK.
9 Wheel
Encoders
Verify the 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.
10 Stasis Turn the front caster. Stasis signal
(caster
rotation
switch).
11 Main Brush Verify the brush is
unobstructed. Wait until
STATUS LED is green.
Then briefly stall the main
brush. Main brush
turns on. Brush over
current stall. Brush current
OK.
12 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 on
left side. Debris
detected on
right side.
13 Vacuum Verify the vacuum is
unobstructed. Wait until
STATUS LED is green.
Then briefly stall the
vacuum motor. Vacuum turns
on. Vacuum stall. Vacuum
current OK.
14 Side Brush Verify the side brush is
unobstructed. Wait until
STATUS LED is green.
Then briefly stall the side
brush motor. Side brush
turns on. Side brush
stall. Side brush
current OK.