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Введение

This guide will show you how to clean your iRobot Roomba 4100’s optical encoder. The optical encoder is used to detect cliff edges and tell the robot to back up when nearing these. When the encoder is obstructed by debris it will cause the robot to continuously back up in a circle, aka the “circle dance.” Also, make sure to remove the battery before attempting to repair. Steps 1-3 cover removal of the battery pack.

If this guide does not fix your problem or a new problem emerges, check iRobot Roomba 4100 Troubleshooting.

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  1. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance, Battery Pack: step 1, image 1 of 1
    • Turn the Roomba upside down to be able to see the yellow battery pack.

  2. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 2, image 1 of 2 How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 2, image 2 of 2
    • Remove the battery by placing your fingers into the two holes and firmly press your fingers against both sides of the battery.

    • Lift the battery directly up and out of the device.

  3. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 3, image 1 of 1
    • Line up the replacement battery’s larger tab side with the larger tab hole and the smaller tab side with the smaller tab hole.

    • Insert the replacement battery into the empty space and firmly press down onto the battery until two audible clicks are heard.

  4. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance, How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 4, image 1 of 1
    • Begin by removing the rear particle bin.

  5. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 5, image 1 of 1
    • Next, locate the three screws on the iRobots hubcap/wheels. (You only need to unscrew one side)

  6. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 6, image 1 of 1
    • Using a Phillips Head screwdriver, remove all three screws on the side of the hubcap of the wheel.

  7. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 7, image 1 of 1
    • Gently slide the hubcap up and out of the wheel well of the Roomba.

  8. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 8, image 1 of 1
    • Notice the wires attached to the hubcap. These are directly connected to the optical encoder.

  9. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 9, image 1 of 1
    • Using a can of compressed air, gently spray and clean the optical encoder until the dust had been removed.

  10. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 10, image 1 of 1
    • Using a screwdriver, gently remove the drive belt from the gear. This is the rubber band wrapped around the gear shaft.

  11. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 11, image 1 of 1
    • Slowly lift the gear from the gear shaft. Make sure you do not lose the drive belt.

  12. How to clean iRobot Roomba 4100 optical sensors to fix Circle Dance: step 12, image 1 of 1
    • Thoroughly clean the exposed area of the wheel using either compressed air or a moist cotton swab. Be mindful of the exposed inner drive shaft when cleaning the wheel area to prevent any preexisting dust from entering the drive shaft.

Заключение

To reassemble your device, follow these instructions in reverse order.

4 участников успешно повторили данное руководство.

Christian

Участник с: 06.10.2010

263 Репутация

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Cal Poly, Team 20-7, Maness Fall 2010 Участник Cal Poly, Team 20-7, Maness Fall 2010

CPSU-MANESS-F10S20G7

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4 Comments

Thanks for your advice. I cleaned the sensors on the wheels and still the unit was having a circular dance. From another site mentioning another model there could be a problem with the sensors behind the front bumper bar and yes that was the problem. They needed blowing out with a strong air gun. Now after extensive cleaning my Roomba is running like a dream :-)

photofil - Ответить

My problem as well with my Roomba scheduler. The black and white front wheel housing was packed with rug fiber. Cleaned it out and all is well.

Also have a roomba discovery. It has a different front wheel with out any apparent sensor.

Will Long - Ответить

I have a roomba4100 it will turn on it will try to go but will stop after 1second don't know what's wrong could it be the belt

Rodney - Ответить

I have a Roomba from 2002 (before the 400 series. This tutorial looks like it might apply, but I can only get 2 of the 3 screws off the hubcap of the wheel. The other one is blocked by the top cover.

Stephen Martinson - Ответить

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