iRobot Roomba 510, Руководство по обслуживанию

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