!!!WARRANTY REVOCATION WARNING!!!

Without any prior notice to Roomba/Scooba owners iRobot has (ca., 2006, Q4-2007, Q1) invoked a new policy regarding performance of "diagnostic" tests (those which are built-in to all Roomba/Scooba firmware) without first discussing the need to do so with iRobot Customer Support. A robot with valid warranty stands to have its warranty revoked if an owner fails to heed the new policy.

There has been no formal release of the subject policy, however, a quasi-formal post, which also explains the Company's concerns, may be read via this RoombaReview Sticky. [v.0.2]
DISCLAIMER

When Scooba's wheels, brushes or pumps are driven, finger-tips, beards, and neck-ties or other garments are exposed to a hazardous situation. Notice that a Scooba-5900 in Self-Test Mode is operating without the normal safety features, features that can stop motors when Scooba is lifted off the floor, or if something jams a mechanism. Due care must be exercised when using hands to reorient Scooba while its wheel and brush motors are powered. With that preamble said, be aware that this document has been prepared by Scooba owners, [1], none of whom are employed by iRobot, Inc.; further the authors are not to be held responsible for personal, or material damage, nor for any inaccuracy within this document.

To proceed, you are doing so at your own risk; and, agree to the above disclaimer statement.

============ SCOOBA-5900 SELF-TESTING PROCEDURE ============
Update 070912, v.0.2

Self-testing may be done with, or without Scooba's Tank Assembly mounted. If proceeding without the Tank, notice that several tests cannot be completed; however, if the Tank is to be included, be certain to place a couple measuring cups of acceptable cleaning solution in both of its chambers. Alternatively, you may begin testing with the Tank mounted, then unlatch it when particular tests need it out of the way; and, replace it if subsequent tests require its presence.

Prior to entering Scooba-5900's self-test, "ST", mode, you should decide whether you want testing to sequence automatically, or to wait for your manual-command before proceeding. Choose either of these methods:

AUTOMATIC-ADVANCING: If selecting this process, a prudent owner will have studied the list of tests, in an attempt to avoid being surprised by switched-ON mechanisms.
To proceed, hold down the "Clean" button and briefly press the "Power" button. Be sure to release the Clean button after the tones have gone up, but before they have gone down. Tests will advance automatically once Clean goes green. Indexing stops at "test" 25; then you must pull battery to quit self-testing.[v.0.2]
MANUAL TEST-STEPPING: Hold down the "Clean" button and briefly press the "Power" button -- BUT BE SURE TO KEEP THE Clean-BUTTON DEPRESSED UNTIL THE FIVE-TONE SET ASCENDS, AND THEN DESCENDS -- taking about seven seconds to play out; then release 'Clean'. Scooba will then be doing Test-Zero. Battery removal is required to exit self-testing.

If auto-indexing was not chosen, use the "Clean" button to move forward through the self-test series. The "Power" button may be used to reverse the test-selection at any point, if manually indexing tests.

Upon entry into each self-test, Scooba's speaker will emit beeps of one, and/or two lengths, in which the test-number is encoded via the Base-5 numbering system.[2] One exception is test-zero, which has its own 'song'.

The 5900's numeric-display, titled "Service", will indicate the test-number in decimal format, and with a leading zero for test-numbers less than 10. Since 'Service' can display only a single digit, the display must toggle the two digits that make up any test-number.

Beeps

Service
Digits

Function Under
Test
[v.0.2]
Comments
[v.0.2]

5 notes up,
5 down

0,0

All panel LEDs & displays, and the speaker are tested.

All panel LEDs lock ON for about three seconds, then flash in sequence until test increments. If you had recorded these LED actions when Scooba was new, you would have a comparison set :-). See note [3] for lighting details.

Success is:

All LEDs and indicators, properly light; and tones from the speaker are heard.

0 long,
1 short

0,1.

Unknown

TBD test. An SCI-dump of Factory Tests calls this "ext-watchdog".

Final display is:

Clean & Power flash GRN, then CheckTank lights and Clean = GRN.

0 long,
2 short

0,2.

Bump-Functions,
(Lft & Rht Switches)

Push in one side of Bumper, push in the opposite side, then press the Bumper’s center. Clean = dark, at entry to ST#2.

Left-side SW:

"CheckTank" should light

Right-side SW:

"I'mStuck" should light

Both-SWs together:

Both of above indicators should light

Success is:

After L, R, and central presses, Clean = GRN = PASS.

0 long,
3 short

0,3.

Cliff Sensors, Side
(Lft & Rht modules)

Lift left side, then right, off the table, CheckTank & I'mStuck lights go ON
when the ‘floor’ disappears, then OFF when it returns.

Left-floor gone:

CheckTank should light

Right-floor gone:

I'mStuck should light

Success is:

After CheckTank & I'mStuck light, Clean = GRN = PASS.

0 long,
4 short

0,4.

Center-Cliff &
Wall Sensors

Lift front off the table, then set it down to toggle the Cliff indicator. Hold hand or white-card near Wall-sensor ports, to toggle Wall sensor's indicator.

Center-floor gone:

CheckTank should light

Wall simlation:

I'mStuck should light

Success is:

After CheckTank & I'mStuck light, Clean = GRN = PASS.

1 long,
0 short

0,5.

Drop Sensors, Driving-Wheels'

Lift Scooba off table, lift one drive-wheel, then the other to toggle the indicators.

Left-whl down & up:

CheckTank lit, then dark

Right-whl down & up:

I'mStuck lit, then dark

Success is:

After CheckTank & I'mStuck toggle, Clean = GRN = PASS.

1 long,
1 short

0,6.

Front-Wheel’s Drop & Rotation Sensors:

Lift Scooba’s front off the table, so the Front Wheel may be manipulated.

Frnt-Whl down & up:

CheckTank+I'mStuck lit, then dark

Front-Whl-Rotation

Collapse knee-action, then I'm Stuck lights during part of each turn.

Success is:

After CheckTank & I'mStuck toggling, Clean = GRN = PASS.

1 long,
2 short

0,7.

Tank, Cleaning-Head & Filter Position Sensors:

Unlatch Tank, remove test items, then re-install / re-latch Tank.

If Tank is unseated:

CheckTank will light.

If Cleaning-Head is not latched:

I'mStuck will light.

If Filter Asm. gone:

CheckBrush will light.

Success is:

After CheckTank, I'mStuck & CheckBrush toggle, Clean = GRN = PASS.

1 long,
3 short

0,8.

Ambient-Light Sensor
(multi-level response):

In a brightly lit ambient, I'mStuck should be lit. Put a finger-tip over the circular window to the right of the I’m Stuck indicator, to mask the window; but also watch CheckTank while blocking the window.

Sensor blocked:

CheckTank light should light as I'mStuck goes dark.

Sensor response to mid-level lighting:

CheckTank and I'mStuck should be dark.

Sensor not blocked:

I'mStuck light should light.

Success is:

After all indicator-toggles, Clean = GRN = PASS.

1 long,
4 short

0,9.

VWU Receiver

Check response to VWU & Remote-Controller stimuli.

Using VWU's beam(s):

CheckTank should light

Using Roomba’s Remote-Control:

I'mStuck should light

Success is:

After CheckTank, & I'mStuck toggle, Clean = GRN = PASS.

2 long,
0 short

1,0.

Brush-Motor Operation

Brush-motor should be powered upon test-entry.

If over-current fault:

CheckTank will light

Success is:

Motor runs + CheckTank = dark, Power = GRN = PASS.

2 long,
1 short

1,1.

Vacuum-Motor Operation

Motor should be heard running upon test-entry.

If over-current fault:

TBD fault-indicator will light

Success is:

Motor runs; exhaust flowing out forward of left wheel may be felt & dark fault indicator, Power = Clean = GRN = PASS.

2 long,
2 short

1,2.

Pumping Operation (High rate grades to slow)

Requires presence of Clean-Tank with liquid. Lift Scooba enough to observe both jets ejecting liquid.

If over-current fault:

TBD_indicator will light

Success is:

Pump operates to eject liquid out both jets; starting at max-rate, then slowing to low-rate & dark fault indicator, Power = Clean = GRN = PASS.

2 long,
3 short

1,3.

Liquid Sensors' Tests

Again, both jets should be emitting fluid, but watch CheckTank and I'mStuck. ChkTnk and I’m-Stuck are dark

If Clean-chamber contains an acceptably conductive liquid:

CheckTank should be lit to indicate flow of conductive liquid through the sensor at the far end of the Solution Inlet Lance.

If Dirty-chamber is more than half full of acceptably conductive liquid:

I'mStuck should light.

(Don't know why:)

CheckBrush may light when pump-motor runs.

Success is:

With proper liquids in tank-chambers, both CheckTank and I'mStuck should be lit = PASS. Pump operation is incidental.

2 long,
4 short

1,4.

Left wheel, forward-drive

On test-entry, wheel is rotating. If on floor, NOT RECOMMENDED, Scooba will spin C-W, pivoting around its right wheel. Power = GRN.

If over-current fault:

CheckTank will light

Success is:

Left-Wheel rotates properly + CheckTank = CheckBrush = I'mStuck = dark; Power = Clean = GRN = PASS.

3 long,
0 short

1,5.

Right wheel, forward-drive

On test-entry, wheel is rotating. If on floor, NOT RECOMMENDED, Scooba will spin anti-C-W, pivoting around its left wheel. Power = GRN.

If over-current fault:

I'mStuck will light

Success is:

Left-Wheel rotates properly + CheckTank = CheckBrush = I'mStuck = dark; Power = Clean = GRN = PASS.

3 long,
1 short

1,6.

Drive-Wheels Rotation Sensors’ (tachometers) test

On test-entry both wheels drive in reverse. Observe rapid flashing of "CheckTank" and "I'mStuck" lights. Power and Clean are GRN.

Success is:

"CheckTank"and "I'mStuck" lights flash, CheckBrush = dark + Power = Clean = GRN; = PASS.

3 long,
2 short

1,7.

Charging-voltage Check

Connect SPSU-charger to Scooba, then AC-power the SPSU.

If Charging voltage is OK:

CheckTank will light

Success is:

CheckTank lit and Clean = GRN = PASS.

3 long,
3 short

1,8.

Battery-Parameter-Sensing Checks

Verifies robot's read-out of its battery-voltage, -temperature, & -current.

(Don't know if V or I:)

But, CheckTank will be lit

(Don't know if I or V:)

But, TBD-indicator will be lit

Temperature - If Battery is cool enough to charge:

I'mStuck will light

Success is:

CheckTank and I'mStuck lit, plus Power = Clean = GRN = PASS.

3 long,
4 short

1,9.

Trickle-Current Check

I_tricl_chg = +0.14A, underway

Success is:

CheckTank = lit, Power = Clean = GRN = PASS.

4 long,
0 short

2,0.

Top-Off Charge Check

I_topOff_chg = +0.42A, underway

Success is:

CheckTank = lit, Power = Clean = GRN = PASS.

4 long,
1 short

2,1.

High-Rate Charging Check

I_fast_chg = +1.73A, underway

Success is:

CheckTank = lit, Power = Clean = GRN = PASS.

4 long,
2 short

2,2.

Unknown

TBD test. An SCI-dump of Factory Tests calls this "charger-watchdog". On entry, Power & Clean are dark.

Final display is:

CheckTank and I'mStuck lit, and Clean = GRN.

4 long,
3 short

2,3.

Unknown

TBD test. An SCI-dump of Factory Tests calls this "charger-switch-isolation". On entry, Power & Clean are dark.

Final display is:

CheckTank and I'mStuck lit and Clean = GRN.

4 long,
4 short

2,4.

'Bootloader'
Not an owner test.

Clean = GRN and "Check Tank" = lit.

Final display is:

CheckTank lit and Clean = GRN.

Repeat,
or
Quit

Pressing Clean to end Test-24 will also return Scooba to Self-Test 0,0. Disconnect the SPSU-Charger at this time; else, if you forget, see Note [4] to learn what the Power button does.
To exit self-testing, Scooba's battery must be removed from the robot.

NOTES:

[1] Thanks go to Greg Lane for: reporting (Spring 2006) how to access Scooba's built-in tests; for devising the very first table of tests; and, for allowing his source material to be ported into the editor's site .

[2] Howard Busch, a RoombaReview member, deduced the Base-5 system is being used to code test-numbers in Discovery-Roomba's self-test (diagnostic) sequence. We can see iRobot has done the same with Scooba.

[3] Here are some details about Test-Zero's light-display:

"Service" (the word) flashes RED.
"Service" (the numeric-display): Seven individual (RED) segments of the number "8", and the trailing decimal-point, are energized in series; then all elements turn ON together.
"Power" has four LEDs, two RED and two GRN, which get lit.
"Clear" has four LEDs, two BLU, and two bi-color which show either WHT or GRN, which all get lit (but the bi-colors take two cycles to show both colors).
"Check Tank" can be: BLU, or WHT, or whitish VIO.
"Check Brush" displays in WHT, only.
"I'm Stuck" displays in WHT, only.
The MCU strobes all these LEDs in rapid succession, which makes it difficult to capture by just a few visual observations, hence no detail description of that sequence will be attempted.

[4] If the battery is disconnected to end self-testing, without first disconnecting charging power, a portion of Scooba's electronics will be powered by the SPSU's voltage. Scooba will indicate that status by performing a Power-button light-show. Two pairs of red and white LEDs will light for a few seconds, then be replaced by a full arc of green, briefly flashed, and that will be followed with a flash of red, both filling the illumination window of the Power button. The 'show' then repeats.

REVISIONS:

v.0.0, 060413: Original version posted by Greg Lane (see the 7:13PM post in that thread).

v.0.1, 060706: Transformed MSWd-html to non-MS-html and updated the tests with new information.

v.0.2, 070912: Added missing material to Tests 7,8,10, 13-15, and 17-24. Users may again thank Howard Busch, for his efforts in fleshing out the previously unknown features; as well as the editor, for fleshing-out and adapting Howard's findings to this format. Miscellaneous re-formatting has also been done in this update. Essentially every test has undergone correction, or other adjustment, hence it is not feasible to flag every changed item.

This document is currently maintained by Gordon. If you have any corrections, or new material, you may contact "Gordon" via PM at RoombaReview.

Beeps	Service Digits	Function Under Test [v.0.2]	Comments [v.0.2]
5 notes up, 5 down	0,0	All panel LEDs & displays, and the speaker are tested.	All panel LEDs lock ON for about three seconds, then flash in sequence until test increments. If you had recorded these LED actions when Scooba was new, you would have a comparison set :-). See note [3] for lighting details.
		Success is:	All LEDs and indicators, properly light; and tones from the speaker are heard.
0 long, 1 short	0,1.	Unknown	TBD test. An SCI-dump of Factory Tests calls this "ext-watchdog".
		Final display is:	Clean & Power flash GRN, then CheckTank lights and Clean = GRN.
0 long, 2 short	0,2.	Bump-Functions, (Lft & Rht Switches)	Push in one side of Bumper, push in the opposite side, then press the Bumper’s center. Clean = dark, at entry to ST#2.
		Left-side SW:	"CheckTank" should light
		Right-side SW:	"I'mStuck" should light
		Both-SWs together:	Both of above indicators should light
		Success is:	After L, R, and central presses, Clean = GRN = PASS.
0 long, 3 short	0,3.	Cliff Sensors, Side (Lft & Rht modules)	Lift left side, then right, off the table, CheckTank & I'mStuck lights go ON when the ‘floor’ disappears, then OFF when it returns.
		Left-floor gone:	CheckTank should light
		Right-floor gone:	I'mStuck should light
		Success is:	After CheckTank & I'mStuck light, Clean = GRN = PASS.
0 long, 4 short	0,4.	Center-Cliff & Wall Sensors	Lift front off the table, then set it down to toggle the Cliff indicator. Hold hand or white-card near Wall-sensor ports, to toggle Wall sensor's indicator.
		Center-floor gone:	CheckTank should light
		Wall simlation:	I'mStuck should light
		Success is:	After CheckTank & I'mStuck light, Clean = GRN = PASS.
1 long, 0 short	0,5.	Drop Sensors, Driving-Wheels'	Lift Scooba off table, lift one drive-wheel, then the other to toggle the indicators.
		Left-whl down & up:	CheckTank lit, then dark
		Right-whl down & up:	I'mStuck lit, then dark
		Success is:	After CheckTank & I'mStuck toggle, Clean = GRN = PASS.
1 long, 1 short	0,6.	Front-Wheel’s Drop & Rotation Sensors:	Lift Scooba’s front off the table, so the Front Wheel may be manipulated.
		Frnt-Whl down & up:	CheckTank+I'mStuck lit, then dark
		Front-Whl-Rotation	Collapse knee-action, then I'm Stuck lights during part of each turn.
		Success is:	After CheckTank & I'mStuck toggling, Clean = GRN = PASS.
1 long, 2 short	0,7.	Tank, Cleaning-Head & Filter Position Sensors:	Unlatch Tank, remove test items, then re-install / re-latch Tank.
		If Tank is unseated:	CheckTank will light.
		If Cleaning-Head is not latched:	I'mStuck will light.
		If Filter Asm. gone:	CheckBrush will light.
		Success is:	After CheckTank, I'mStuck & CheckBrush toggle, Clean = GRN = PASS.
1 long, 3 short	0,8.	Ambient-Light Sensor (multi-level response):	In a brightly lit ambient, I'mStuck should be lit. Put a finger-tip over the circular window to the right of the I’m Stuck indicator, to mask the window; but also watch CheckTank while blocking the window.
		Sensor blocked:	CheckTank light should light as I'mStuck goes dark.
		Sensor response to mid-level lighting:	CheckTank and I'mStuck should be dark.
		Sensor not blocked:	I'mStuck light should light.
		Success is:	After all indicator-toggles, Clean = GRN = PASS.
1 long, 4 short	0,9.	VWU Receiver	Check response to VWU & Remote-Controller stimuli.
		Using VWU's beam(s):	CheckTank should light
		Using Roomba’s Remote-Control:	I'mStuck should light
		Success is:	After CheckTank, & I'mStuck toggle, Clean = GRN = PASS.
2 long, 0 short	1,0.	Brush-Motor Operation	Brush-motor should be powered upon test-entry.
		If over-current fault:	CheckTank will light
		Success is:	Motor runs + CheckTank = dark, Power = GRN = PASS.
2 long, 1 short	1,1.	Vacuum-Motor Operation	Motor should be heard running upon test-entry.
		If over-current fault:	TBD fault-indicator will light
		Success is:	Motor runs; exhaust flowing out forward of left wheel may be felt & dark fault indicator, Power = Clean = GRN = PASS.
2 long, 2 short	1,2.	Pumping Operation (High rate grades to slow)	Requires presence of Clean-Tank with liquid. Lift Scooba enough to observe both jets ejecting liquid.
		If over-current fault:	TBD_indicator will light
		Success is:	Pump operates to eject liquid out both jets; starting at max-rate, then slowing to low-rate & dark fault indicator, Power = Clean = GRN = PASS.
2 long, 3 short	1,3.	Liquid Sensors' Tests	Again, both jets should be emitting fluid, but watch CheckTank and I'mStuck. ChkTnk and I’m-Stuck are dark
		If Clean-chamber contains an acceptably conductive liquid:	CheckTank should be lit to indicate flow of conductive liquid through the sensor at the far end of the Solution Inlet Lance.
		If Dirty-chamber is more than half full of acceptably conductive liquid:	I'mStuck should light.
		(Don't know why:)	CheckBrush may light when pump-motor runs.
		Success is:	With proper liquids in tank-chambers, both CheckTank and I'mStuck should be lit = PASS. Pump operation is incidental.
2 long, 4 short	1,4.	Left wheel, forward-drive	On test-entry, wheel is rotating. If on floor, NOT RECOMMENDED, Scooba will spin C-W, pivoting around its right wheel. Power = GRN.
		If over-current fault:	CheckTank will light
		Success is:	Left-Wheel rotates properly + CheckTank = CheckBrush = I'mStuck = dark; Power = Clean = GRN = PASS.
3 long, 0 short	1,5.	Right wheel, forward-drive	On test-entry, wheel is rotating. If on floor, NOT RECOMMENDED, Scooba will spin anti-C-W, pivoting around its left wheel. Power = GRN.
		If over-current fault:	I'mStuck will light
		Success is:	Left-Wheel rotates properly + CheckTank = CheckBrush = I'mStuck = dark; Power = Clean = GRN = PASS.
3 long, 1 short	1,6.	Drive-Wheels Rotation Sensors’ (tachometers) test	On test-entry both wheels drive in reverse. Observe rapid flashing of "CheckTank" and "I'mStuck" lights. Power and Clean are GRN.
		Success is:	"CheckTank"and "I'mStuck" lights flash, CheckBrush = dark + Power = Clean = GRN; = PASS.
3 long, 2 short	1,7.	Charging-voltage Check	Connect SPSU-charger to Scooba, then AC-power the SPSU.
		If Charging voltage is OK:	CheckTank will light
		Success is:	CheckTank lit and Clean = GRN = PASS.
3 long, 3 short	1,8.	Battery-Parameter-Sensing Checks	Verifies robot's read-out of its battery-voltage, -temperature, & -current.
		(Don't know if V or I:)	But, CheckTank will be lit
		(Don't know if I or V:)	But, TBD-indicator will be lit
		Temperature - If Battery is cool enough to charge:	I'mStuck will light
		Success is:	CheckTank and I'mStuck lit, plus Power = Clean = GRN = PASS.
3 long, 4 short	1,9.	Trickle-Current Check	I_tricl_chg = +0.14A, underway
		Success is:	CheckTank = lit, Power = Clean = GRN = PASS.
4 long, 0 short	2,0.	Top-Off Charge Check	I_topOff_chg = +0.42A, underway
		Success is:	CheckTank = lit, Power = Clean = GRN = PASS.
4 long, 1 short	2,1.	High-Rate Charging Check	I_fast_chg = +1.73A, underway
		Success is:	CheckTank = lit, Power = Clean = GRN = PASS.
4 long, 2 short	2,2.	Unknown	TBD test. An SCI-dump of Factory Tests calls this "charger-watchdog". On entry, Power & Clean are dark.
		Final display is:	CheckTank and I'mStuck lit, and Clean = GRN.
4 long, 3 short	2,3.	Unknown	TBD test. An SCI-dump of Factory Tests calls this "charger-switch-isolation". On entry, Power & Clean are dark.
		Final display is:	CheckTank and I'mStuck lit and Clean = GRN.
4 long, 4 short	2,4.	'Bootloader' Not an owner test.	Clean = GRN and "Check Tank" = lit.
		Final display is:	CheckTank lit and Clean = GRN.
Repeat, or Quit	Pressing Clean to end Test-24 will also return Scooba to Self-Test 0,0. Disconnect the SPSU-Charger at this time; else, if you forget, see Note [4] to learn what the Power button does. To exit self-testing, Scooba's battery must be removed from the robot.

!!!WARRANTY REVOCATION WARNING!!!

DISCLAIMER

Beeps

ServiceDigits

Function UnderTest

Comments

NOTES:

REVISIONS:

Service
Digits

Function Under
Test