iRobot Roomba 560 Robotic Vacuum only goes in circle

Click this link for complete disassembly:---

http://www.schneordesign.com/Avi/irobot/roomba_mod2.htm

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There are three connectors to unplug from the back of the PCB, then you can raise the board up and observe the connector on the front of the board:--

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Click this link below for further disassembly:---

http://vic7767-robotmods.blogspot.com/

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This is the wheel/gear assembly that gets cracked:---

Some brush deck motors have been brought back to life using the same method of just turning the motor by hand. You may want to blow it out, then use electric parts cleaner, blow it out again, and then oil the bushings.

I took the wheel module apart, figuring I had nothing to lose since it needed to be replaced anyway. I saw 2 wires disconnected, and soldered them back. Now all works perfectly again.

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If that is not your case then:---

Try this diagnostic mode procedure:---

Power off by pressing clean for a few seconds.
Press and hold clean and dock while pressing spot 9 times gets into auto-advance mode.
Press and hold clean and dock while pressing spot 12 times gets into manual-advance mode.
Pressing dock in manual mode advances to the next test.

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To enter : Perform these Key Sequences:
Auto-advance Built-in-Test Hold CLEAN and DOCK and pulse SPOT 3 times.
Release buttons

Manual-advance Built-in-Test Hold CLEAN and DOCK and pulse SPOT 6 times.
Release buttons

Auto-advance Mobility Test Hold CLEAN and DOCK and pulse SPOT 9 times.
Release buttons

Manual-advance Mobility Test Hold CLEAN and DOCK and pulse SPOT 12 times.
Release buttons

Display + beep software date code Hold CLEAN and SPOT and pulse DOCK 6 times.
Release buttons

Enter voice tutorial Turn robot on by pressing CLEAN. Hold DOCK for 3
seconds

Power OFF and reboot Roomba
(will erase schedule too)
Hold SPOT and DOCK at least 10 seconds (15 is safe)

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OK - i've tried this sequence...

Manual-advance Built-in-Test Hold CLEAN and DOCK and pulse SPOT 6 times.
Release buttons

led check runs
Press Dock
Single Beep - clean light red - dirt detect flash once every 3 seconds
Press Dock
Two quick beeps - clean light red - dirt detect two quick flashes
Press left bumber - spot goes green / goes off when released
Press right bumber - dock goes green / goes off when released

So the bumber check is ok ??

Press Dock
Three quick beeps - clean light red - dirt detect three quick flashes
cover far left sensor - spot goes green / goes off release
cover far right sensor - dock goes green / goes off when released
Press Dock
Four quick beeps - clean light red - dirt detect four quick flashes
cover inner left sensor - spot goes green / goes off release
cover inner right sensor - dock goes green / goes off when released
Press Dock

So cliff sensors are ok ?

after this, although I can step through the test, nothing seems to happen. no wheels turn / brushes turn. The site i found says press CLEAN to start these tests, is that correct ?


Single low beep - clean red - spot flickering - dirt detect slow flash
Press Dock
Low beep & then high - clean red - dirt detect long flash & one short one
Press Dock
Low beep & then two high - clean red - dirt detect long flash & two short ones
Press Clean - nothing happens

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It would seem that your Roomba passed test 2 (bumper) and test 3 (L&R side cliff) Here is a dump of the BIT data from my 535. It did have a defective wheel down sensor that you will notice in the test results.

factory-test 0 leds
wait: false


factory-test 1 buttons


factory-test 2 bumpers
(bump-left?) PASS
(bump-right?) PASS


factory-test 3 cliffs-side
wiff: cliff-right on 4092 off 1312 signal 2780 on? 0
wiff: cliff-front-right on 4092 off 1296 signal 2796 on? 0
wiff: cliff-front-left on 4092 off 1258 signal 2834 on? 0
wiff: cliff-left on 4092 off 1285 signal 2807 on? 0
wiff: lt-bumper-right on 96 off 84 signal 12 on? 0
wiff: lt-bumper-center-right on 3961 off 4001 signal -40 on? 0
wiff: lt-bumper-front-left on 107 off 66 signal 42 on? 0
wiff: lt-bumper-front-right on 174 off 59 signal 114 on? 0
wiff: lt-bumper-center-left on 120 off 75 signal 45 on? 0
wiff: lt-bumper-left on 4008 off 4002 signal 6 on? 0
(cliff-left?) PASS
(cliff-right?) PASS


factory-test 4 cliffs-front
(cliff-front-left?) PASS
(cliff-front-right?) PASS


factory-test 5 lt-bumper-side
wiff: cliff-right on 4092 off 1288 signal 2804 on? 0
wiff: cliff-front-right on 4092 off 1256 signal 2836 on? 0
wiff: cliff-front-left on 4092 off 1268 signal 2824 on? 0
wiff: cliff-left on 4092 off 1301 signal 2791 on? 0
wiff: lt-bumper-right on 92 off 82 signal 10 on? 0
wiff: lt-bumper-center-right on 3962 off 4004 signal -41 on? 0
wiff: lt-bumper-front-left on 105 off 65 signal 40 on? 0
wiff: lt-bumper-front-right on 175 off 59 signal 116 on? 0
wiff: lt-bumper-center-left on 112 off 70 signal 42 on? 0
wiff: lt-bumper-left on 4011 off 4006 signal 4 on? 0
(and (lt-bumper-left?) (not (bump?))) PASS
(and (lt-bumper-right?) (not (bump?))) PASS


factory-test 6 lt-bumper-front
(and (lt-bumper-front-left?) (not (bump?))) PASS
(and (lt-bumper-front-right?) (not (bump?))) PASS


factory-test 7 lt-bumper-center
(and (lt-bumper-center-left?) (not (bump?))) PASS
(and (lt-bumper-center-right?) (not (bump?))) PASS


factory-test 8 wheel-drop
(wheel-drop-left?)

factory-test 9 omni-receiver
(rcon?)

factory-test 10 binoculars
(valid-code-in-channel? dir-left) PASS
(valid-code-in-channel? dir-right) PASS


factory-test 11 battery-sensors
(battery-voltage-ok?) PASS
(battery-temperature-ok?) PASS
(baseline-current-ok?) mA -156 min -300 max -14 mV 16420 degrees-C 32 PASS


factory-test 12 left-wheel
not (left-wheel-stall?) PASS
(baseline-current-ok?) mA -156 min -300 max -14 mV 16420 degrees-C 32 PASS
(drive-speed-ok? left forward) PASS
(drive-speed-ok? right stopped) PASS
(left-drive-current-ok?) mA -366 min -150 max -75 mV 16309 degrees-C 32 FAIL

not (left-wheel-stall?) PASS
wait: (left-wheel-stall?)
(left-wheel-stall?) PASS
(left-drive-stall-current-ok?) mA -770 min -850 max -700 mV 16281 degrees-C
32 PASS
(left-wheel-stall?) PASS
wait: (not (left-wheel-stall?))


factory-test 13 right-wheel
not (right-wheel-stall?) PASS
(baseline-current-ok?) mA -270 min -300 max -14 mV 16337 degrees-C 32 PASS
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right forward) FAIL
(right-drive-current-ok?) mA -796 min -150 max -75 mV 16226 degrees-C 32 FAI
L
not (right-wheel-stall?) FAIL
wait: (right-wheel-stall?)
(right-wheel-stall?) PASS
(right-drive-stall-current-ok?) mA -807 min -850 max -700 mV 16226 degrees-C
32 PASS
(right-wheel-stall?) PASS
wait: (not (right-wheel-stall?))


factory-test 14 wheel-encoders
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right stopped) PASS
(drive-speed-ok? left reverse) PASS
(drive-speed-ok? right reverse) PASS


factory-test 15 stasis
wait: (not (stasis-strong-signal?))
(stasis-strong-signal?) PASS


factory-test 16 main-brush
not (main-brush-motor-stall?) PASS
(baseline-current-ok?) mA -269 min -300 max -14 mV 16337 degrees-C 32 PASS
(main-brush-current-ok?) mA -1306 min -500 max -200 mV 16170 degrees-C 32 FA
IL
not (main-brush-motor-stall?) FAIL
(main-brush-current-ok?) mA -948 min -500 max -200 mV 16003 degrees-C 32 FAI
L
not (main-brush-motor-stall?) PASS
wait: (main-brush-motor-stall?)


factory-test 17 debris
(debris-right?)

factory-test 18 vacuum
(baseline-current-ok?) mA -270 min -300 max -14 mV 16309 degrees-C 32 PASS
(vacuum-current-ok?) mA -112 min -230 max -50 mV 16226 degrees-C 32 PASS


factory-test 19 side-brush
not (side-brush-motor-stall?) PASS
(baseline-current-ok?) mA -270 min -300 max -14 mV 16309 degrees-C 32 PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -232 min -120 max -30 mV 16226 degrees-C 32 FAIL

not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -226 min -120 max -30 mV 16226 degrees-C 32 FAIL

wait: (side-brush-motor-stall?)
(side-brush-motor-stall?) PASS
(side-brush-stall-current-ok?) mA -355 min -550 max -400 mV 16226 degrees-C
32 FAIL
(side-brush-motor-stall?) PASS
wait: (not (side-brush-motor-stall?))


factory-test 20 int-charger-recovery
not (int-charger-available?) PASS
wait-true-for-half-second: (int-charger-available?)
(int-charging-recovery-current-ok?) mA 280 min 250 max 350 mV 16587 degrees-
C 32 PASS


factory-test 21 int-charger-on
wait-true-for-half-second: (int-charger-available?)
(int-charging-current-ok?) mA 1209 min 1000 max 1400 mV 16977 degrees-C 32 PASS


factory-test 22 int-charger-trickle
wait-true-for-half-second: (int-charger-available?)
(int-charging-trickle-current-ok?) mA 62 min 40 max 70 mV 16532 degrees-C 32 PASS


factory-test 23 charger-watchdog
wait-true-for-half-second: (int-charger-available?)
(int-charging-watchdog-current-ok?) mA 0 min -20 max 20 mV 16476 degrees-C 32 PASS


factory-test 24 ext-charger-recovery
not (ext-charger-available?) PASS
wait-true-for-half-second: (ext-charger-available?)
(ext-charging-recovery-current-ok?) mA 278 min 250 max 350 mV 16587 degrees-
C 32 PASS


factory-test 25 ext-charger-on
wait-true-for-half-second: (ext-charger-available?)
(ext-charging-current-ok?) mA 1158 min 1000 max 1400 mV 16977 degrees-C 32 P
ASS


factory-test 26 ext-charger-trickle
wait-true-for-half-second: (ext-charger-available?)
(ext-charging-trickle-current-ok?) mA 62 min 40 max 70 mV 16532 degrees-C 32
PASS


factory-test 27 bootloader
(bootloader-ok?) PASS


factory-test 28 bbox-vars
(bbox-test-write-succeeded?) PASS


factory-test 29 rf
(rf-system-functioning?) PASS


factory-test 30 serial-flash
(flash-file-system-ok?) PASS


factory-test 31 cliff-calibration


factory-test 32 save-factory-test-data
(factory-test-data-saved?) PASS