iRobot Roomba

Owners Manual

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Dear iRobot Roomba Owner, Welcome to the new world of iRobot. As an owner of iRobots latest Roomba Vacuuming Robot, you join a growing group of people around the globe who, like you, are discovering a smarter way to clean. Having practical robots that help you in your home is a new reality. We encourage you to share your feedback as we continue to develop new and better robots. Heres what you can do to participate in our efforts: ommunicate with us if you have questions, comments C or require support. Many improvements to our products start with suggestions from customers like you. Visit us at www.irobot.com. egister online or by mail. Youll be among the first to R hear about our newest robots, product enhancements and special offers. Thank you for joining the robot revolution. We look forward to your valued input as we continue to deliver groundbreaking products that will change and improve your world. On behalf of the entire iRobot team,
Colin Angle Co-Founder and CEO iRobot Corporation

Important Tips

Remove and clean Roombas brushes after every 3 uses. Roomba contains electronic parts. Do NOT submerge Roomba or spray with water. Clean with a dry cloth only. Always consult your floor manufacturer for approved cleaning methods.

For Best Performance

Roomba is very effective at picking up hair. Remove and clean Roombas brushes after every 3 uses. Empty Roombas bin and clean its filter after every 3 uses. Always store Roomba connected to its charger or Home Base. Use the Virtual Walls to keep Roomba cleaning where you want it. Keep wheels and brush free of hair and debris by inspecting and cleaning the bottom of the robot regularly.
iRobot Roomba Owners Manual

Table of Contents

Anatomy... 6 Cleaning Pattern... 7. Cleaning System... 8 Cleaning Modes... 9 Battery Storage and Charging.. 10 11. Virtual Walls... 12. Home Base... 13. Remote Control.. 14 Scheduler Remote Control.. Maintenance.. 20. Troubleshooting... 21. iRobot Customer Care.. 22 Important Safety Instructions.. 23

Anatomy

4100 Model Series

(Red, Sage, Blue)

Virtual Wall Sensor Handle

4200 Model Series

(Discovery, Scheduler)
Serial Port Bin Release Battery Charger Socket

Bin Release

Serial Port

Battery Charger Socket

Buttons and Lights
Dirt Detect Status Light Power Button Charging Indicator Spot Cleaning Button Cleaning Button Max Cleaning Button Power Button Spot Button Status Light Dirt Detect

Cleaning Button

(Sage and Blue only)

Max Cleaning Button

Bottom View
Cliff Sensor Openings Edge-Cleaning Side Brush Battery Vacuum Inlet Contact Points for Home Base Flexible Brush Main Brush Brush Guard Brush Bearings

Replaceable Caster Wheel

(Discovery, Scheduler only)

Brush Caps

Dirt Detect Sensor Brush Guard Release Tabs (yellow)

Cleaning Pattern

Roomba is a robot that cleans differently than the way most people clean their floors. Roomba uses iRobots AWARE Robot Intelligence System to determine the best way to pass over and clean every section of the floor. Roomba calculates the optimal cleaning path as it cleans and determines when to use its various cleaning behaviors: Spiraling: Roomba uses a spiral motion to clean a concentrated area. Wall Following: Roomba uses this technique to clean the full perimeter of the room and navigate around furniture and obstacles. Room Crossing: Roomba criss-crosses the room to ensure full cleaning coverage. Dirt Detection: When Roomba senses dirt, the blue Dirt Detect light is lit and Roomba cleans more intensely in that area.

TIP: Roomba takes approximately 45 minutes to clean an average room and will pass over the same area of the floor multiple times to ensure total floor coverage. TIP: For fastest cleaning and best performance, clear your floor of clutter and use a Virtual Wall to confine Roomba to one room. TIP: Wires should be elevated off of the floor and rug tassles should be tucked under the rug to prevent Roomba from getting stuck.

Cleaning System

Roomba features a patented 3-stage cleaning system.

Filter

Side brush cleans 1
along edge of walls and into corners.

Two 2 counter-

rotating brushes scoop up dirt, hair and debris into the bin.
Powerful vacuum picks up the 3
remaining fine particles, dirt, and hair. The filter traps dust and small particles.

Floor Surfaces

Roomba works on wood, carpet, tile, vinyl, and linoleum, and will automatically transition between different floor types. Roomba is not recommended for shag carpet or rugs with tassels.

Cleaning Modes

Roomba will clean based on the cleaning mode you select. Roomba has up to four cleaning modes, depending on your model:

Clean Mode (all models)

Roomba automatically calculates the room size and adjusts its cleaning time appropriately. Roomba may clean for up to 60 minutes.

Spot Mode (all models)

Roomba will spiral approximately 3 feet in diameter and then spiral back to where it started, intensely cleaning a localized area.

Max Mode

Roomba runs until its battery is nearly depleted, up to 120 minutes.

Scheduled Cleaning Mode

When a cleaning time is programmed with the iRobot Scheduler Remote, Roomba enters Scheduled Cleaning Mode. When Roomba is in Scheduled Cleaning Mode, the status light blinks amber. At the specified time, Roomba leaves its Home Base, cleans for up to 60 minutes and returns to the Home Base to recharge when it is done.
Battery Storage and Charging
Roomba is powered by a Nickel Metal Hydride (NiMH) rechargeable battery. Roombas battery can last for hundreds of cleaning cycles before a replacement is necessary.

Battery Life

To extend the battery life, we recommend storing Roombas battery in the robot with the power supply plugged in, or with Roomba on the Home Base. If stored correctly, Roombas battery will take less than 3 hours to recharge.

Cleaning Time

You should fully charge Roombas battery before each cleaning cycle. When fully charged, Roomba will clean for up to 120 minutes on hard floors and for slightly less time on rugs.

16 Hour Refresh Charge

When charging for the first time, or if Roomba has been left off the charger for a long time, Roomba will initiate a special 16-hour charge cycle. This extended charge refreshes Roombas battery and extends the life of the battery.
TIP: For best performance, always store Roombas battery in Roomba with Roomba plugged in or on the Home Base. Charge Roombas battery overnight for the first charge.

Charging Roomba

Charge Roomba in one of two ways:

Charging Lights

All Roomba models have a charging indicator light. Use this chart to determine the status of the battery:
Charging Indicator Light Red Amber pulse Solid green Battery Status Battery empty Charging Fully charged
4100 Model Series4200 Model Series
Charging Indicator Light Charging Indicator Light
TIP: When Roomba is on the Home Base, always make sure that the Home Base Power and Docked lights are on.

Virtual Walls

The iRobot Roomba Virtual Walls create an invisible barrier that Roomba will not cross. The Virtual Walls can be set to block an area ranging from three to eight feet long.
TIP: Use the Virtual Walls to block doorways or to keep Roomba away from cords. Confining Roomba to a single room will accelerate cleaning.
T he Virtual Wall beam is keyhole shaped. A small halo prevents Roomba from bumping into the Virtual Wall and a larger lobe-shaped section blocks off areas of your home where you dont want Roomba to go.
Shape of Beam D Alkaline Batteries

Battery Installation

The Virtual Wall requires 2 D batteries and automatically shuts off after 110 minutes. If the power light blinks green, the batteries will soon need replacement.

(not included)

Battery Door

Range Adjustment

Use the slider bar to adjust the length of the barrier. A higher range will drain the battery faster.

TIP: or best performance, place the Virtual Wall on the outside of the F doorway you wish to block. Set the Virtual Wall to the shortest setting possible to extend battery life. TIP: Scheduling Virtual Walls (when programmed) will turn on a few minutes before Roomba. See page 18 for details.
Additional Virtual Walls may be purchased at www.irobot.com. 12 iRobot Roomba Owners Manual

Home Base

Roomba returns to the Home Base at the end of a cleaning cycle or when its battery is running low. Roomba needs to find the infrared signal of the Home Base in order to return. Always keep the Home Base plugged in. When Roomba is on the Home Base, the Power and Docked lights will be green to indicate Roomba is charging.

Home Base Location

You should position the Home Base on a hard level surface and in an area where Roomba has a clear path to return to the dock at the end of a cleaning cycle. If Roomba is unable to dock on its first attempt, it will try again until it successfully docks. To manually dock Roomba, place it within five feet of the Home Base and press Spot and Clean simultaneously. You can also drive Roomba toward the Home Base with the remote control, and Roomba will dock automatically.

Home Base Chair Table

Stairs

Area Rug

T he Roomba Remote, Virtual Wall, and Home Base operate using an invisible infrared technology. If they are all used in the same area, Roomba may see multiple infrared signals and not operate. Roomba WILL NOT dock if you have a Virtual Wall near the Home Base. Fluorescent lights also can impact Virtual Wall and Home Base performance.

Remote Control

Spot Directional Buttons Power Clean Max Pause
The Roomba Remote Control lets you conveniently control Roombas functions. You can use it to turn Roomba on and off, and steer it around your room without bending down. It also gives you remote access to the following commands: Clean: Start Roomba in Clean mode. Spot: Start Roomba in Spot mode. Max: Start Roomba in Max mode. Pause: Pause Roomba in the middle of the cleaning cycle. Press pause again to continue. Before using your remote for the first time, you must install 2 AA batteries (sold separately).
TIP: You can use the remote to direct Roomba to the Home Base. Once Roomba is in range and can see the Home Base, it will return to the base and dock itself automatically.
T he Roomba Remote Control, Virtual Walls, and Home Base all operate using an invisible infrared beam. If they are all used in the same area, Roomba may see multiple infrared signals and will not operate. The Remote WILL NOT work when the robot is near Virtual Walls.

Scheduler Remote Control

Power Clean Directional Buttons Spot Max Front Cover Scheduling Virtual Wall
The Scheduler Remote Control is included with the Roomba Scheduler. Other Roomba models are compatible with the iRobot Scheduler Remote Control Upgrade. To schedule Roomba to clean, use the Scheduler Remote Control to program your cleaning times. Then use the Scheduler Remote Control to send your schedule to Roomba and the scheduling Virtual Walls. Install the batteries and set the time before using for the first time.

Setting the Time

Open the Scheduler Remote Controls front cover. 1 The display will turn red and read SET TIME. Press New/Save and Delete simultaneously. 2 Press 3

4 Press

The display will change to read SUN 12:00. to change the day. to navigate to the hour on the display.

Press 5 Press 6 Press 7

to change the hour. To select AM or PM, simply scroll past 12:00. to navigate to the minute on the display. to
to change the minute. Hold scroll quickly.
the time has been Press New/Save to save. Afterindicate the time has set, it will flash three times to been saved. Close the Scheduler Remotes cover to verify that the correct time has been set. www.irobot.com 15

Setting Schedules

To schedule iRobot Roomba to clean:
1 Open the Scheduler Remote Controls front cover to

enter Scheduler mode.

2 Press New/Save to begin setting a schedule.

Press 3

to select the day of the week. to navigate to the hour field.

Press 5

to schedule the hour. To select AM or PM, simply scroll past 12:00. to navigate to the minute field. to schedule the minute. to navigate to the Once/Weekly field.

Press 6

7 Press

Press 9

to choose Once or Weekly. Choose Weekly if you want Roomba to clean on the same day and time every week.
Press New/Save once to save the schedule. 10
The LCD will flash three times to indicate that the schedule has been set.
D ont forget to send the schedule to both Roomba and the scheduling Virtual Walls. See pp. for details.

Sending Schedules

After setting a cleaning time, you need to send the schedule to Roomba and the scheduling Virtual Walls. To send a schedule to your Roomba:
1 Power on Roomba with the Power button.

Open the Scheduler Remote Controls front cover, 2
point the remote at Roomba and press Send All. The display will flash to indicate the remote is sending the schedule. Roomba will play a song to indicate the schedule is received and the Status light will begin blinking.
Make sure Roomba is on the Home Base or in the 3 center of the area you want to clean. Roomba will clean at the time you have scheduled. Roombas Status light will blink amber to indicate that Roomba is scheduled to clean.
T o accept a schedule, Roomba must either be at least eight feet from the Home Base or charging on the Home Base and Roombas power must be on. iRobot Scheduler, Virtual Walls, and Home Base all operate using invisible infrared beams. If used in the same area, Roomba may see multiple infrared signals and not respond to commands. Make sure all Virtual Walls are turned off when using Scheduler.
To send a schedule to the scheduling Virtual Walls: Press and hold the power button on each scheduling 1 Virtual Wall until the Scheduled light turns on.

Scheduled light

Point the Scheduler remote at each scheduling 2
Virtual Wall and press Send All to send the schedule. The display will flash, indicating that the remote is sending the schedule to the Virtual Wall.

0-3 4-7 8+

The Virtual Walls Scheduled light will blink to confirm that it is scheduled 3 to automatically turn on at the time you programmed.
TIP: You can clear the schedule from the scheduling Virtual Wall and Roomba by removing their batteries, or by deleting all cleaning times from the remote and re-sending the cleared schedule to the scheduling Virtual Walls.

Changing Schedules

Open the Scheduler Remotes cover. The display should 1 read SHOW. If it reads Set Time, see p. 15.
Scroll through the programmed schedules 2
using or until you find the schedule you want to change.
Press New/Save when the remote displays the 3 schedule you wish to change.
S 4 croll to the field you wish to change using the use the

buttons and

to change the time, day, or frequency.
Press New/Save to save the new time. 5 Send the updated schedule to Roomba and 6 the scheduling Virtual Walls. See pp. for details.

Deleting Schedules

Open the Scheduler Remotes cover. The display should 1 read SHOW. If it reads Set Time, see p. 15. or Scroll through the schedules using 2 to delete is displayed.
3 Press Delete to clear the schedule.
until the schedule you wish
S 4 end the deleted schedule to Roomba and
the scheduling Virtual Walls. See pp. for details.
TIP: You can clear the schedule from the scheduling Virtual Walls and from Roomba by removing and replacing the batteries.

Maintenance

To keep Roomba running at peak performance, it is recommended that you perform the following maintenance tasks every three uses:
1 Remove and empty 3 Clean Roombas brushes

Roombas bin

Press button and pull to remove bin
A. Remove brush guard by pulling both yellow tabs

2 Clean Roombas filter

compartment
A. lean or replace filter* C
B. emove and clean Roombas R brushes. Remove brush caps and use scissors to cut any hair wrapped around the brush. Use the Roomba cleaning tool to comb hair from brush.

Brushes Brush bearings

B. lean filter C compartment

Brush caps

Empty bin
C. emove and clean hair and dirt from R Roombas brush bearings. Visit www.irobot.com/usetips for instructional photos
*Replace filter every 2 months
Tip: Bin emptying and brush cleaning should be done after every 3-5 cleaning cycles depending on the amount of hair, dirt, and debris in your environment. Tip: f you notice Roomba picking up less debris from your floor, empty the bin I and clean the brushes. Excessive build up of hair in Roombas brushes and bearings can permanently damage Roomba. Inspect brush bearings regularly. D o not attempt to run Roomba without the bearings. If you misplace Roombas brush bearings, contact iRobot Customer Care for replacement bearings.

Troubleshooting

Roomba will tell you when something is wrong with a two-tone uh-oh sound followed by beeping. Refer to the chart below to resolve Roombas problem. If the problem is not resolved, visit www.irobot.com/support.

Number of beeps after uh-oh No beeps 1 Likely cause What to do
A wheel is stuck or is not touching the ground The main brushes cannot turn

7 or 8

Pick up the robot, place it down securely on the floor and touch the clean button to restart the cycle. Turn over Roomba and remove the brush guard by pushing the two yellow tabs. Remove the brushes, clear any obstructions, and replace them again. (See page 20) The side brush cannot Turn over Roomba. Look to see if something is wrapped around turn the side brush. Remove the side brush with a screw driver and check for string or hair that may be wrapped around it. The vacuum cannot run Remove and empty Roombas bin. (See page 20) A wheel motor cannot run Your Roomba may be stuck or something may be wrapped around a wheel. Look for something wrapped around the wheels. Push them in and out and make sure they turn easily. The cliff sensors have Turn over Roomba and clear any debris that might be caught failed or are blocked underneath the front bumper in the cliff sensors. You can also use compressed air to clean them out. Wheel obstruction or Turn over Roomba and remove any obstructions that prevent robot attempting to drive the wheels from seating all the way up into Roombas body. over an obstacle Also, remove any obstacles that Roomba could drive over. Not applicable Roombas beep codes do not include 7 or 8 beeps. If you are getting an error with 7 or 8 beeps, try counting again or contact iRobot Customer Care. Sensor error Please contact iRobot Customer Care. Roomba is stuck Pick up Roomba and start it again somewhere else. Use a virtual wall or other barrier to keep Roomba away from the place it got stuck.
Miscellaneous Troubleshooting
Problem Roombas Power light will not illuminate Roomba is not picking up debris Roomba does not charge Likely cause Battery not seated correctly Bin is full Power supply not plugged in What to do Remove Roombas battery by pushing the side clips and reinsert the battery making sure you hear an audible click. Empty the bin and clean Roombas brushes. (See page 20) Ensure that the power supply is correctly connected to the wall, to the Home Base, and to Roomba. Roombas charger and Home Base will each illuminate a solid green light when plugged into a power source.

TIP: If you notice that Roomba is sitting on its Home Base and the Power light is not illuminated, then clean the charging contacts on the bottom of the robot.

iRobot Customer Care

If you have questions or comments about Roomba, please contact iRobot before contacting a retailer. Please visit our web site at www.irobot.com for support tips, frequently asked questions, or information about accessories and other iRobot products. We would like to hear from you. Should you still need assistance: Visit the iRobot support web site at www.irobot.com/support Call our customer care representatives at 877.855.8593
iRobot Customer Care Hours:
Monday Friday 9AM 7PM Eastern Time Saturday 9AM 6PM Eastern Time
Important Safety Instructions
C AUTION: DO NOT EXPOSE THE ELECTRONICS OF ROOMBA, ITS BATTERY OR THE CHARGER. THERE ARE NO USER-SERVICEABLE PARTS INSIDE. REFER SERVICING TO QUALIFIED SERVICE PERSONNEL. CHARGE USING STANDARD U.S. (120V AC) OUTLET ONLY.
Always exercise caution when operating your Roomba. To reduce the risk of injury or damage, keep these safety precautions in mind when setting up, using and maintaining your Roomba:
GENERAL SAFETY INSTRUCTIONS
Read all safety and operating instructions before operating Roomba. Retain the safety and operating instructions for future reference. Heed all warnings on Roomba, battery, charger and in owners manual. Follow all operating and use instructions. Refer all non-routine servicing to iRobot.

ROOMBA USE RESTRICTIONS

Roomba is for indoor use only. Roomba is not recommended for shag, high pile carpet, or tassels. oomba is not a toy. Do not sit or stand on this device. Small children and pets should be R supervised when Roomba is cleaning. Clean with a dry cloth only. Do not pour or spray water onto Roomba. Do not use this device to pick up anything that is burning or smoking. Do not use this device to pick up spills of bleach, paint, or other chemicals, or anything wet. Before using this device, pick up objects like clothing, loose papers, pull cords for blinds or curtains, power cords, and any fragile objects. If the device passes over a power cord and drags it, there is a chance an object could tumble off a table or shelf. If the room to be cleaned contains a balcony, a physical barrier should be used to prevent access to the balcony and ensure safe operation. Always remove the battery before long-term storage or transportation.

ROOMBA BATTERY AND CHARGING
Charge using a standard U.S. (120V AC) outlet only. Product may not be used with any type of power converter. Use of other power converters will immediately void the warranty. Use only the charger supplied by the manufacturer to charge this device. Do not use a charger with a damaged cord or plug. Charge indoors only. Roombas power supply may be protected with a surge protector in the event of severe electrical storms. Never handle chargers with wet hands. Always disconnect Roomba from the charger before cleaning.
Register your iRobotRoomba today. SAVE 15% on all accessories.*

iRobot Scheduler

Add scheduling to your Roomba..$5999

Self-Charging Home Base

Roomba returns to the Home Base to recharge automatically..$5999

Virtual Wall

Keep Roomba cleaning where you want it..$2999

Replenishment Kit

New main brush and flexible brush plus 3 filters..$2999

Standard Wall Mount

Convenient storage for Roomba and its remote control..$1999

Replacement Filter Pack

3 reusable filters keep Roomba cleaning at peak performance..$1499
Get iRobot accessories at: 800.727.9077 or visit store.irobot.com
*See registration card for details. Pricing and availability subject to change. Shipping and handling not included.
2006 iRobot Corporation, 63 South Avenue, Burlington, MA 01803. All rights reserved. iRobot, Virtual Wall and Roomba are registered trademarks of iRobot Corporation. AWARE, Home Base, Dirt Detect and Discovery are trademarks of iRobot Corporation. US Pat. Nos. D510,066 | 6,883,201 | 6,690,134 | 6,809,490 | 6,594,844. Other patents pending. 097.06

iRobot Roomba Serial Command Interface (SCI) Specification

www.irobot.com

2005 iRobot Corporation. All rights reserved. iRobot and Roomba are registered trademarks of iRobot Corporation.

SCI Overview

Versions of iRobot Roomba Vacuuming Robot manufactured after October, 2005 contain an electronic and software interface that allows you to control or modify Roombas behavior and remotely monitor its sensors. This interface is called the iRobot Roomba Serial Command Interface or Roomba SCI. Roomba SCI is a serial protocol that allows users to control a Roomba through its external serial port (Mini-DIN connector). The SCI includes commands to control all of Roombas actuators (motors, LEDs, and speaker) and also to request sensor data from all of Roombas sensors. Using the SCI, users can add functionality to the normal Roomba behavior or they can create completely new operating instructions for Roomba.

Serial Port Settings

Baud: 57600 or 19200 (see below) Data bits: 8 Parity: None Stop bits: 1 Flow control: None By default, Roomba communicates at 57600 baud. If you are using a microcontroller that does not support 57600 baud, there are two ways to force Roomba to switch to 19200: Method 1: When manually powering on Roomba, hold down the power button. After 5 seconds, Roomba will start beeping. After 10 seconds, Roomba will play a tune of descending pitches. Roomba will now communicate at 19200 baud until the battery is removed and reinserted (or the battery voltage falls below the minimum required for processor operation) or the baud rate is explicitly changed via the SCI. Method 2: You can use the Device Detect to change Roombas baud rate. After you have awakened Roomba (using Device Detect or by some other method) wait 2 seconds and then pulse the Device Detect low three times. Each pulse should last between 50 and 500 milliseconds. Roomba will now communicate at 19200 baud until the battery is removed and reinserted (or the battery voltage falls below the minimum required for processor operation) or the baud rate is explicitly changed via the SCI. Here is a Python code fragment that illustrates this method (Device Detect is connected to the PCs RTS line via a level shifter): ser = serial.Serial(0, baudrate=19200, timeout=0.1)

Physical Connections

To use the SCI, a processor capable of generating serial commands such as a PC or a microcontroller must be connected to the external Mini-DIN connector on Roomba. The Mini-DIN connector provides two way serial communication at TTL Levels as well as a Device Detect input line that can be used to wake Roomba from sleep. The connector also provides an unregulated direct connection to Roombas battery which users can use to power their SCI applications. The connector is located in the rear right side of Roomba beneath a snap-away plastic guard. Roombas external serial port Mini-DIN connector pinout This diagram shows the pin-out of the top view of the female connector in Roomba. Note that pins 5, 6, and 7 are towards the outside circumference of Roomba.
ser.open() # wake up robot ser.setRTS (0) time.sleep (0.1) ser.setRTS (1) time.sleep (2) # pulse device-detect three times for i in range (3): ser.setRTS (0) time.sleep (0.25) ser.setRTS (1) time.sleep (0.25)
Name Vpwr Vpwr RXD TXD DD GND GND
Description Roomba battery + (unregulated) Roomba battery + (unregulated) 0 5V Serial input to Roomba 0 5V Serial output from Roomba Device Detect input (active low) used to wake up Roomba from sleep Roomba battery ground Roomba battery ground
The RXD, TXD, and Device Detect pins use 0 5V logic, so a level shifter such as a MAX232 chip will be needed to communicate with a Roomba from a PC, which uses rs232 levels.

SCI Modes

The Roomba SCI has four operating modes: off, passive, safe, and full. On a battery change or other loss of power, the SCI will be turned off. When it is off, the SCI will listen at the default baud bps for an SCI Start command. Once it receives the Start command, the SCI will be enabled in passive mode. In passive mode, users can do the following: equest and receive sensor data using the R Sensors command xecute virtual button pushes to start and stop cleaning E cycles (Power, Spot, Clean, and Max commands) efine a song (but not play one) D et force-seeking-dock mode S Users cannot control any of Roombas actuators when in passive mode, but Roomba will continue to behave normally, including performing cleaning cycles, charging, etc. When in passive mode, users can then send the Control command to put the robot into safe mode. In safe mode, the users have full control of the robot, except for the following safety-related conditions: etection of a cliff while moving forward (or moving backward D with a small turning radius) etection of wheel drop (on any wheel) D harger plugged in and powered C When one of the conditions listed above occurs, the robot stops all motors and reverts to passive mode. For complete control of the robot, users must send the Full command while in safe mode to put the SCI into full mode. Full mode shuts off the cliff and wheel-drop safety features. (The robot will still not run with a powered charger plugged in.) This mode gives users unrestricted control of the robots actuators. To put the SCI back into safe mode, users can send the Safe command. If no commands are sent to the SCI when it is in safe or full mode, Roomba will wait with all motors off and will not respond to button presses or other sensor input. To go back to passive mode from safe or full mode, users can send any one of the four virtual button commands (Power, Spot, Clean, or Max). These button commands are equivalent to the corresponding button press in normal Roomba behavior. For instance, the Spot command will start a spot cleaning cycle. Allow 20 milliseconds between sending commands that change the SCI mode.

Roomba SCI Commands

Listed below are the commands that users send to the SCI over to the serial port in order to control Roomba. Each command is specified by a one-byte opcode. Some commands must also be followed by data bytes. The meaning of the data bytes for each command are specified with the commands below. The serial byte sequence for each command is also shown with each separate byte enclosed in brackets. Roomba will not respond to any SCI commands when it is asleep. Users can wake up Roomba by setting the state of the Device Detect pin low for 500ms. The Device Detect line is on Roomba external Mini-DIN connector. Start Command opcode: 128 Number of data bytes: 0
Starts the SCI. The Start command must be sent before any other SCI commands. This command puts the SCI in passive mode. Serial sequence: [128] Baud Command opcode: 129 Number of data bytes: 1
Sets the baud rate in bits per second (bps) at which SCI commands and data are sent according to the baud code sent in the data byte. The default baud rate at power up is 57600 bps. (See Serial Port Settings, above.) Once the baud rate is changed, it will persist until Roomba is power cycled by removing the battery (or until the battery voltage falls below the minimum required for processor operation). You must wait 100ms after sending this command before sending additional commands at the new baud rate. The SCI must be in passive, safe, or full mode to accept this command. This command puts the SCI in passive mode. Serial sequence: [129] [Baud Code] Baud data byte 1: Baud Code (0 11)
Baud code Baud rate in bps 57600 115200
Control Command opcode: 130

Number of data bytes: 0

Enables user control of Roomba. This command must be sent after the start command and before any control commands are sent to the SCI. The SCI must be in passive mode to accept this command. This command puts the SCI in safe mode. Serial sequence: [130]

Command opcode: 131

This command puts the SCI in safe mode. The SCI must be in full mode to accept this command.
Note: In order to go from passive mode to safe mode, use the Control command.
Serial sequence: 137] [Velocity high byte] [Velocity low byte] [ [Radius high byte] [Radius low byte] Drive data bytes 1 and 2: Velocity (-mm/s) Drive data bytes 3 and 4: Radius (-mm) Special cases: traight = 32768 = hex 8000 S Turn in place clockwise = -1 Turn in place counter-clockwise = 1 Example: To drive in reverse at a velocity of -200 mm/s while turning at a radius of 500mm, you would send the serial byte sequence [137] [255] [56] [1] [244]. Velocity = -200 = hex FF38 = [hex FF] [hex 38] = [255] [56]

Serial sequence: [131] Full Command opcode: 132 Number of data bytes: 0
Enables unrestricted control of Roomba through the SCI and turns off the safety features. The SCI must be in safe mode to accept this command. This command puts the SCI in full mode. Serial sequence: [132] Power Command opcode: 133 Number of data bytes: 0
Puts Roomba to sleep, the same as a normal power button press. The Device Detect line must be held low for 500 ms to wake up Roomba from sleep. The SCI must be in safe or full mode to accept this command. This command puts the SCI in passive mode. Serial sequence: [133] Spot Command opcode: 134 Number of data bytes: 0
Radius = 500 = hex 01F4 = [hex 01] [hex F4] = [1] [244]
Motors Command opcode: 138

Number of data bytes: 1

Controls Roombas cleaning motors. The state of each motor is specified by one bit in the data byte. The SCI must be in safe or full mode to accept this command. This command does not change the mode. Serial sequence: [138] [Motor Bits] Motors data byte 1: Motor Bits (0 7) 0 = off, 1 = on
Starts a spot cleaning cycle, the same as a normal spot button press. The SCI must be in safe or full mode to accept this command. This command puts the SCI in passive mode. Serial sequence: [134] Clean Command opcode: 135 Number of data bytes: 0

Bit Motor

Starts a normal cleaning cycle, the same as a normal clean button press. The SCI must be in safe or full mode to accept this command. This command puts the SCI in passive mode. Serial sequence: [135] Max Command opcode: 136 Number of data bytes: 0

n/a n/a

Main Vacuum Side Brush Brush
Example: To turn on only the vacuum motor, send the serial byte sequence [138] [2].
Starts a maximum time cleaning cycle, the same as a normal max button press. The SCI must be in safe or full mode to accept this command. This command puts the SCI in passive mode. Serial sequence: [136] Drive Command opcode: 137 Number of data bytes: 4

Command opcode: 139

Number of data bytes: 3
Controls Roombas drive wheels. The command takes four data bytes, which are interpreted as two 16 bit signed values using twos-complement. The first two bytes specify the average velocity of the drive wheels in millimeters per second (mm/s), with the high byte sent first. The next two bytes specify the radius, in millimeters, at which Roomba should turn. The longer radii make Roomba drive straighter; shorter radii make it turn more. A Drive command with a positive velocity and a positive radius will make Roomba drive forward while turning toward the left. A negative radius will make it turn toward the right. Special cases for the radius make Roomba turn in place or drive straight, as specified below. The SCI must be in safe or full mode to accept this command. This command does change the mode.

Note: The robot system and its environment impose restrictions that may prevent the robot from accurately carrying out some drive commands. For example, it may not be possible to drive at full speed in an arc with a large radius of curvature.
Controls Roombas LEDs. The state of each of the spot, clean, max, and dirt detect LEDs is specified by one bit in the first data byte. The color of the status LED is specified by two bits in the first data byte. The power LED is specified by two data bytes, one for the color and one for the intensity. The SCI must be in safe or full mode to accept this command. This command does not change the mode. Serial sequence: [139] [Led Bits] [Power Color] [Power Intensity] Leds data byte 1: Led Bits (0 63) Dirt Detect uses a blue LED: 0 = off, 1 = on Spot, Clean, and Max use green LEDs: 0 = off, 1 = on Status uses a bicolor (red/green) LED: 00 = off, 01 = red, 10 = green, 11 = amber
Bit LED 7 n/a 6 n/a 3 Spot 2 Clean 1 Max 0 Dirt Detect

Status (2 bits)

Power uses a bicolor (red/green) LED whose intensity and color can be controlled with 8-bit resolution.
Leds data byte 2: Power Color (0 255) 0 = green, 255 = red. Intermediate values are intermediate colors. Leds data byte 3: Power Intensity (0 255) 0 = off, 255 = full intensity. Intermediate values are intermediate intensities. Example: To turn on the dirt detect and spot LEDs, make the status LED red, and to light the power LED green at half intensity, send the serial byte sequence [139] [25] [0] [128]
Note Number Table for Song Command (with Frequency in Hz)
Number Note G G# A A# B C C# D D# E F F# G G# A A# B C C# D D# E F F# G G# A A# B C C# D D# E F F# G G# A A# B C C# D D# E F F# G Frequency 49.0 51.0 55.0 58.3 61.7 65.4 69.3 73.4 77.8 82.4 87.3 92.5 98.0 103.8 110.0 116.5 123.5 130.8 138.6 146.8 155.6 164.8 174.6 185.0 196.0 207.7 220.0 233.1 246.9 261.6 277.2 293.7 311.1 329.6 349.2 370.0 392.0 415.3 440.0 466.2 493.9 523.3 554.4 587.3 622.3 659.3 698.5 740.0 784.0 Number Note G# A A# B C C# D D# E F F# G G# A A# B C C# D D# E F F# G G# A A# B C C# D D# E F F# G G# A A# B C C# D D# E F F# G Frequency 830.6 880.0 932.3 987.8 1046.5 1108.7 1174.7 1244.5 1318.5 1396.9 1480.0 1568.0 1661.2 1760.0 1864.7 1975.5 2093.0 2217.5 2349.3 2489.0 2637.0 2793.8 2960.0 3136.0 3322.4 3520.0 3729.3 3951.1 4186.0 4434.9 4698.6 4978.0 5274.0 5587.7 5919.9 6271.9 6644.9 7040.0 7458.6 7902.1 8372.0 8869.8 9397.3 9956.1 10548.1 11175.3 11839.8 12543.9
Command opcode: 140 Number of data bytes: 2N + 2, where N is the number of notes in the song
Specifies a song to the SCI to be played later. Each song is associated with a song number which the Play command uses to select the song to play. Users can specify up to 16 songs with up to 16 notes per song. Each note is specified by a note number using MIDI note definitions and a duration specified in fractions of a second. The number of data bytes varies depending on the length of the song specified. A one note song is specified by four data bytes. For each additional note, two data bytes must be added. The SCI must be in passive, safe, or full mode to accept this command. This command does not change the mode. Serial sequence: [140] [Song Number] [Song Length] [Note Number 1] [Note Duration 1] [Note Number 2] [Note Duration 2] etc. Song data byte 1: Song Number (0 15) Specifies the number of the song being specified. If you send a second Song command with the same song number, the old song will be overwritten. Song data byte 2: Song Length (1 16) Specifies the length of the song in terms of the number of notes. Song data bytes 3, 5, 7, etc.: Note Number (31 127) Specifies the pitch of the note to be played in terms of the MIDI note numbering scheme. The lowest note that Roomba can play is note number 31. See the note number table for specific notes. Any note number outside of the range of 31 to 127 will be interpreted as a rest note and no sound will be played during this note duration. Song data bytes 4, 6, 8, etc.: Note Duration (0 255) Specifies the duration of the note in increments of 1/64 of a second. Therefore, half-second long note will have a duration value of 32.

Command opcode: 141

Plays one of 16 songs, as specified by an earlier Song command. If the requested song has not been specified yet, the Play command does nothing. The SCI must be in safe or full mode to accept this command. This command does not change the mode. Serial sequence: [141] [Song Number] Play data byte 1: Song Number (0 15) Specifies the number of the song to be played. This must match the song number of a song previously specified by a Song command. Sensors Command opcode: 142 Number of data bytes: 1
Requests the SCI to send a packet of sensor data bytes. The user can select one of four different sensor packets. The sensor data packets are explained in more detail in the next section. The SCI must be in passive, safe, or full mode to accept this command. This command does not change the mode. Serial sequence: [142] [Packet Code] Sensors data byte 1: Packet Code (0 3) Specifies which of the four sensor data packets should be sent back by the SCI. A value of 0 specifies a packet with all of the sensor data. Values of 1 through 3 specify specific subsets of the sensor data. Force-Seeking-DockCommand opcode: 143 Number of data bytes: 0 Turns on force-seeking-dock mode, which causes the robot to immediately attempt to dock during its cleaning cycle if it encounters the docking beams from the Home Base. (Note, however, that if the robot was not active in a clean, spot or max cycle it will not attempt to execute the docking.) Normally the robot attempts to dock only if the cleaning cycle has completed or the battery is nearing depletion. This command can be sent anytime, but the mode will be cancelled if the robot turns off, begins charging, or is commanded into SCI safe or full modes. Serial sequence: [143]
Roomba SCI Sensor Packets
The robot will send back one of four different sensor data packets in response to a Sensor command, depending on the value of the packet code data byte. The data bytes are specified below in the order in which they will be sent. A packet code value of 0 sends all of the data bytes. A value of 1 through 3 sends a subset of the sensor data. Some of the sensor data values are 16 bit values. These values are sent as two bytes, high byte first. Sensor Packet Sizes
Packet code Packet Size 26 bytes 10 bytes 6 bytes 10 bytes
Cliff Front Right Packet subset: 1 Range: Data type: 1 byte, unsigned The state of the cliff sensor on the front right side of Roomba is sent as a 1 bit value (0 = no cliff, 1 = cliff) Cliff Right Packet subset: 1 Range: Data type: 1 byte, unsigned The state of the cliff sensor on the right side of Roomba is sent as a 1 bit value (0 = no cliff, 1 = cliff) Virtual Wall Packet subset: 1 Range: Data type: 1 byte, unsigned The state of the virtual wall detector is sent as a 1 bit value (0 = no virtual wall detected, 1 = virtual wall detected) Motor Overcurrents Packet subset: 1 Range: The state of the five motors overcurrent sensors are sent as individual bits (0 = no overcurrent, 1 = overcurrent).

Bit Motor 7 n/a 6 n/a 5 n/a 4 Drive Left 3 Drive Right 2 Main Brush 1 Vacuum 0 Side Brush
Bumps Wheeldrops Packet subset: 1 Range: 0 - 31 Data type: 1 byte, unsigned The state of the bump (0 = no bump, 1 = bump) and wheeldrop sensors (0 = wheel up, 1 = wheel dropped) are sent as individual bits.
Bit Sensor 7 n/a 6 n/a 5 n/a Wheeldrop Caster Left Right Bump Left Right 1
Note: Some robots do not report the three wheel drops separately. Instead, if any of the three wheels drops, all three wheel-drop bits will be set. You can tell which kind of robot you have by examining the serial number inside the battery compartment. Wheel drops are separate only if there is an E in the serial number.
Wall Packet subset: 1 Range: Data type: 1 byte, unsigned The state of the wall sensor is sent as a 1 bit value (0 = no wall, 1 = wall seen). Cliff Left Packet subset: 1 Range: Data type: 1 byte, unsigned The state of the cliff sensor on the left side of Roomba is sent as a 1 bit value (0 = no cliff, 1 = cliff). Cliff Front Left Packet subset: 1 Range: Data type: 1 byte, unsigned The state of the cliff sensor on the front left side of Roomba is sent as a 1 bit value (0 = no cliff, 1 = cliff).
Dirt Detector Left Packet subset: 1 Range: 0 - 255 Data type: 1 byte, unsigned The current dirt detection level of the left side dirt detector is sent as a one byte value. A value of 0 indicates no dirt is detected. Higher values indicate higher levels of dirt detected. Dirt Detector Right Packet subset: 1 Range: Data type: 1 byte, unsigned The current dirt detection level of the right side dirt detector is sent as a one byte value. A value of 0 indicates no dirt is detected. Higher values indicate higher levels of dirt detected.
Note: Some robots dont have a right dirt detector. You can tell by removing the brushes. The dirt detectors are metallic disks. For robots with no right dirt detector this byte is always 0.
Remote Control Command Packet subset: 2 Range: (with some values unused) Data type: 1 byte, unsigned The command number of the remote control command currently being received by Roomba. A value of 255 indicates that no remote control command is being received. See Roomba remote control documentation for a description of the command values. Buttons Packet subset: 2 Range: Data type: 1 byte, unsigned The state of the four Roomba buttons are sent as individual bits (0 = button not pressed, 1 = button pressed).
Bit Button 7 n/a 6 n/a 5 n/a 4 n/a 3 Power 2 Spot 1 Clean 0 Max

Charging State Packet subset: 3 Range: Data type: 1 byte, unsigned A code indicating the current charging state of Roomba.
Code Charging State Not Charging Charging Recovery Charging Trickle Charging Waiting Charging Error
Voltage Packet subset: 3 Range: Data type: 2 bytes, unsigned The voltage of Roombas battery in millivolts (mV). Current Packet subset: 3 Range: -Data type: 2 bytes, signed The current in milliamps (mA) flowing into or out of Roombas battery. Negative currents indicate current is flowing out of the battery, as during normal running. Positive currents indicate current is flowing into the battery, as during charging. Temperature Packet subset: 3 Range: -Data type: 1 byte, signed The temperature of Roombas battery in degrees Celsius. Charge Packet subset: 3 Range: Data type: 2 bytes, unsigned The current charge of Roombas battery in milliamp-hours (mAh). The charge value decreases as the battery is depleted during running and increases when the battery is charged. Capacity Packet subset: 3 Range: Data type: 2 bytes, unsigned The estimated charge capacity of Roombas battery. When the Charge value reaches the Capacity value, the battery is fully charged.
Distance Packet subset: 2 Range: -Data type: 2 bytes, signed The distance that Roomba has traveled in millimeters since the distance it was last requested. This is the same as the sum of the distance traveled by both wheels divided by two. Positive values indicate travel in the forward direction; negative in the reverse direction. If the value is not polled frequently enough, it will be capped at its minimum or maximum. Angle Packet subset: 2 Range: -Data type: 2 bytes, signed The angle that Roomba has turned through since the angle was last requested. The angle is expressed as the difference in the distance traveled by Roombas two wheels in millimeters, specifically the right wheel distance minus the left wheel distance, divided by two. This makes counter-clockwise angles positive and clockwise angles negative. This can be used to directly calculate the angle that Roomba has turned through since the last request. Since the distance between Roombas wheels is 258mm, the equations for calculating the angles in familiar units are: Angle in radians = (2 * difference) / 258 Angle in degrees = (360 * difference) / (258 * Pi). If the value is not polled frequently enough, it will be capped at its minimum or maximum.
Note: Reported angle and distance may not be accurate. Roomba measures these by detecting its wheel revolutions. If for example, the wheels slip on the floor, the reported angle of distance will be greater than the actual angle or distance.
Roomba SCI Commands Quick Reference
Command Opcode Data Byte 1 Start Baud Baud Code (0 11) Control Safe Full Power Spot Clean Max Drive Motors 138 Velocity (-500 500) Motor Bits (0 7) Led Bits (0 63) Song Number (0 15) Song Number (0 15) Packet Code (0 3) Power Power Color Intensity (0 255) (0 255) Song Length (0 15) Note Number 1 (31 127) Note Note Duration Number 1 2, etc. (0 255) Radius (-2000 2000) Data Byte 2 Data Byte 3 Data Byte 4 Etc.

Baud data byte 1: Baud Code (0 9)
Motors data byte 1: Motor Bits 0 = off, 1 = on
Bit Motor 7 n/a 6 n/a 5 n/a 4 n/a 3 n/a 2 Main Brush 1 Vacuum 0 Side Brush
Leds data byte 1: Led Bits (0 63) Dirt Detect uses a blue LED: 0 = off, 1 = on Spot, Clean, and Max use green LEDs: 0 = off, 1 = on Status uses a bicolor (red/green) LED: 00 = off, 01 = red, 10 = green, 11 = amber

Sensors

ForceSeekingDock
Power uses a bicolor (red/green) LED whose intensity and color can be controlled with 8-bit resolution. Leds data byte 2: Power Color (0 255) 0 = green, 255 = red. Intermediate values are intermediate colors. Leds data byte 3: Power Intensity (0 255) 0 = off, 255 = full intensity. Intermediate values are intermediate intensities.
Roomba SCI Sensors Quick Reference
Packet Code Name Wall Cliff Left Cliff Front Left Cliff Front Right Cliff Right Virtual Wall Dirt Detector - Left Dirt Detector - Right Remote Opcode Buttons Distance Angle Charging State Voltage Current Temperature Charge Capacity Packet Size 26 bytes 10 bytes 6 bytes 10 bytes Groups 0, 1 0, 1 0, 1 0, 1 0, 1 0, 1 0, 1 0, 1 0, 2 0, 2 0, 2 0, 2 0, 3 0, 3 0, 3 0, 3 0, 3 0, 3 Bytes 2* 2* 1 2* 2* 1 2* 2* Value Range --65535 --mV mA degrees C mAh mAh mm mm Units

Bumps Wheeldrops

Bit Sensor 5 n/a 2 Right 1 Bump Left 0 Bump Right n/a n/a Wheeldrop Caster Left

Motor Overcurrents

Bit Motor 3 Drive Right 2 Main Brush 1 Vacuum 0 Side Brush n/a n/a n/a Drive Left

Bumps Wheeldrops 0, 1

Buttons

Motor Overcurrents 0, 1

Charging State Codes
* For 2 byte sensor values, high byte is sent first, followed by low byte.

049.05