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700 Series Diagnostic Mode

PostPosted: April 28th, 2011, 9:33 pm
by Tobor
WARNING: Safety features are disabled when in diagnostic mode. Do not engage diagnostic mode unless you are willing to accept all the risks associated with it. There is a very real risk of serious injury when safety features are disabled. For example, without the cliff sensors properly functioning, a unit can fall from a great height and hit pets or children causing serious injury or worse.

[this main topic will be continuously updated as more is learned until we have a wiki-worthy document.]

With the unit turned off, hold down spot, then clean while still holding spot, then pulse dock (if you aren't getting a red ! with triangle, start over) 3 times and release all three.

It will say "OFF" on the display and the DOCK, SPOT, and CLEAN buttons will be lit up.

DOCK and SPOT buttons behave as backward and forward respectively to cycle through different menu items. There are 23 of them including OFF:

I've translated them from LED element speak where possible--any corrections are welcome.

OFF
0 WHEEL DROPS
1 BUMPER
2 CLIFFS
3 REAR CLIFFS
4 MAIN BRUSH
5 SIDE BRUSH
6 RIGHT MOTOR
7 LEFT MOTOR
8 LIGHTHOUSE BINOCULARS
9 LIGHTHOUSE OMNI
10 LIGHTHOUSE TOUCH
11 BRUSH STALL
12 DOCKING IR
13 RF
14 ROOM NAU ?? (Speculation: Room-to-room nav?)
15 STALLS
16 STASIS
17 RF STATUS
18 CLEANING TEST
19 BLACK BOX
20 CLIFF CALIBRATION
21 OPTICAL DIRT DETECT

Holding down CLEAN for 3 seconds while on each of these enters that mode.

OFF: Turns off the unit and exits diagnostic mode.
=====

EDIT: corrected some comma abuse in WARNING.

Re: 700 Series Diagnostic Mode

PostPosted: April 28th, 2011, 10:07 pm
by Tobor
I guess I better acquire the appropriate SCI cable so I can collect the meatier output, eh?

Re: 700 Series Diagnostic Mode

PostPosted: April 28th, 2011, 10:17 pm
by mfortuna
Great job on finding the test sequence. The next step after figuring out the tests would be to find out if there are any enhancements to the SCI. As a starting point you could see if sci tester, roomba status, or roborealm can control and get status from the 700 series.

Re: 700 Series Diagnostic Mode

PostPosted: April 28th, 2011, 10:31 pm
by Tobor
Newbie question: how useful is this info when we don't have the test parameters that accompany the as-of-yet-unleaked service manual?

Re: 700 Series Diagnostic Mode

PostPosted: April 28th, 2011, 10:33 pm
by vic7767
Tobor wrote:Newbie question: how useful is this info when we don't have the test parameters that accompany the as-of-yet-unleaked service manual?

That info will be contained in the SCI output data.

Re: 700 Series Diagnostic Mode

PostPosted: April 28th, 2011, 10:41 pm
by Tobor
Well--I believe I've done what I can this evening without the extra hardware. I hope to see some more responses with SCI output from you Roombanatics (is that a word?) soon.
:cheers:

Re: 700 Series Diagnostic Mode

PostPosted: April 28th, 2011, 11:55 pm
by Fraggboy
:party: Congratulations!!! :) That is going to help a LOT of people. In fact, this thread will be placed in the READ FIRST post so anyone can pull it up easily.

EDIT: Placed in the READ FIRST thread.

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 4:16 am
by sageman
well done

(although i cant help thinking i gave you the idea to turn it off) :wink: lol

also cant believe this has been part cracked already i reckoned it may have taken months to do with the others but obviously not

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 9:36 am
by Tobor
Hehehe. Nope--I've put other gadgets (not robots) into diag mode before and it seems pretty standard to turn them off first. It's also pretty standard to use some combination that's like a game of Twister for your fingers. What really helped me was page 42 from the 500 series service manual. I already knew DOCK wasn't the first key. Without the 500 series manual I would've been unlikely to try "pulsing" anything 3 times--at least that soon.

FYI--the first time I found it, I was pulsing dock with the remote in the other hand. That works, too!

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 11:15 am
by Tobor
You know, I sort of agree with the sentiment that iRobot should be a bit more open with this stuff. They don't have to promote it directly to consumers, but they should reach out to the Roomba hacker community more. There's a wealth of knowledge and experience that could be exploited to their advantage.

What I would like to see them do is develop a certification for Roomba servicing and another one for development using Open Roomba Interface. Liability issues can be addressed with the appropriate legalese/waivers/etc.

It's a shame we have to develop our own documentation from scratch. Hopefully the 500 series service manual can be used as a solid template for the ad-hoc 700 series documentation, but it's still likely to be missing a sizable chunk of material that we wont know about unless a genuine service manual is leaked or released. Maybe I'll be pleasantly surprised by how much vic, et al. are able to fill in with poking around in SCI.

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 12:06 pm
by Fraggboy
If they didn't want us to mess with it, they would have made it harder to get to, like place it in the protected space of the memory where we don't have access to. That's why we have these forums to figure it out. ;)

In reality, we help iRobot with the troubleshooting steps. WE as a forum assist iRobot in handling some of their support issues. They know that.

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 3:43 pm
by vic7767
My 780 arrived today. A quick check of the SCI port during the Built in Tests shows NO OUTPUT during the individual tests. I have managed to pull the diagnostic summary via the SCI port but not each test. Will post more when I figure this out.

SUMMARY: START
SUMMARY: DATE-TAG 2011-02-18-1446-L
SUMMARY: BOOTLOADER-ID 4713 4C5E 792F FFFF
SUMMARY: BOARD-ASSEMBLY 3.8
SUMMARY: BOARD-REVISION 1
SUMMARY: FACTORY-TEST INCOMPLETE
SUMMARY: flash version: 10
SUMMARY: flash info crc passed: 1
SUMMARY: LANGUAGE(S): english (0)
SUMMARY: cliff calibration: L 30 FL 10 FR 10 R 40 RL 20 RR 20
SUMMARY: (user-button-clock?) FAIL
SUMMARY: (user-button-schedule?) untested
SUMMARY: (bump-left?) untested
SUMMARY: (bump-right?) untested
SUMMARY: (cliff-left?) untested
SUMMARY: (cliff-right?) untested
SUMMARY: (cliff-front-left?) untested
SUMMARY: (cliff-front-right?) untested
SUMMARY: (rear-cliff-left?) untested
SUMMARY: (rear-cliff-right?) untested
SUMMARY: (and (lt-bumper-left?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-right?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-front-left?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-front-right?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-center-left?) (not (bump?))) untested
SUMMARY: (and (lt-bumper-center-right?) (not (bump?))) untested
SUMMARY: (wheel-drop-left?) untested
SUMMARY: (wheel-drop-right?) untested
SUMMARY: (rcon?) untested
SUMMARY: (valid-code-in-channel? dir-left) untested
SUMMARY: (valid-code-in-channel? dir-right) untested
SUMMARY: (battery-voltage-ok?) untested
SUMMARY: (battery-temperature-ok?) untested
SUMMARY: (baseline-current-ok?) untested
SUMMARY: (left-wheel-stall?) untested
SUMMARY: (drive-speed-ok? left forward) untested
SUMMARY: (drive-speed-ok? right stopped) untested
SUMMARY: (left-drive-current-ok?) untested
SUMMARY: (left-drive-stall-current-ok?) untested
SUMMARY: (right-wheel-stall?) untested
SUMMARY: (drive-speed-ok? right forward) untested
SUMMARY: (drive-speed-ok? left stopped) untested
SUMMARY: (right-drive-current-ok?) untested
SUMMARY: (right-drive-stall-current-ok?) untested
SUMMARY: (drive-speed-ok? left reverse) untested
SUMMARY: (drive-speed-ok? right reverse) untested
SUMMARY: (stasis-strong-signal?) untested
SUMMARY: (main-brush-motor-stall?) untested
SUMMARY: (main-brush-current-ok?) untested
SUMMARY: (main-brush-stall-current-ok?) untested
SUMMARY: (debris-right?) untested
SUMMARY: (vacuum-current-ok?) untested
SUMMARY: (side-brush-motor-stall?) untested
SUMMARY: (side-brush-current-ok?) untested
SUMMARY: (side-brush-stall-current-ok?) untested
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) untested
SUMMARY: (internal-charger-available?) untested
SUMMARY: (int-charging-recovery-current-ok?) untested
SUMMARY: (int-charging-current-ok?) untested
SUMMARY: (int-charging-trickle-current-ok?) untested
SUMMARY: (int-charging-watchdog-current-ok?) untested
SUMMARY: (ext-charger-available?) untested
SUMMARY: (ext-charging-recovery-current-ok?) untested
SUMMARY: (ext-charging-current-ok?) untested
SUMMARY: (ext-charging-trickle-current-ok?) untested
SUMMARY: (bootloader-ok?) untested
SUMMARY: (bbox-test-write-succeeded?) untested
SUMMARY: (rf-system-functioning?) untested
SUMMARY: fs-header-crc-passed? untested
SUMMARY: (/= enabled-languages 0) untested
SUMMARY: (calibration-data-stored?) untested
SUMMARY: (factory-test-data-saved?) untested
SUMMARY: END

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 4:11 pm
by bhylak
We should get a servicing manual.I'm sure that the people here are smarter than their "Service technicians"

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 6:00 pm
by piokrza
vic7767 wrote:SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) untested
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) untested
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) untested


Guessing from this, I think that 780 has two bin optical sensors: one for 'bin full' and one for 'dirt detect'...

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 6:07 pm
by vic7767
The dirt detect sensor is located just above the bristle brush on the brush deck just like the 500 model.

SUMMARY: (debris-right?) untested

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 6:15 pm
by piokrza
vic7767 wrote:The dirt detect sensor is located just above the bristle brush on the brush deck just like the 500 model.

SUMMARY: (debris-right?) untested


This is 'acoustic' - where is 'optical'?

Re: 700 Series Diagnostic Mode

PostPosted: April 29th, 2011, 9:17 pm
by Tobor
vic: Pulsing dock 3 times must be for the "Manual-advance" version. Maybe for the 700 series you only get data for all tests via the serial port when in "Auto-advance". Perhaps pulsing DOCK another multiple of 3 accesses other modes in a similar manner that SPOT did in the 500 series. I see it describes two ways of collecting the data as well--connecting live and connecting after--but of course you know all this. (duh). :thumbup: (Just being overly helpful. :) )

P.S. Though the "untested" also seems to suggest the tests weren't "completed" to the unit's satisfaction. Hm.

Re: 700 Series Diagnostic Mode

PostPosted: September 13th, 2016, 11:30 am
by whitecube
how can i get in the diagnostic mode with sci? (roomba 780) i want to test the sensors etc

Re: 700 Series Diagnostic Mode

PostPosted: September 13th, 2016, 2:38 pm
by vic7767
The SCI port will allow you to monitor the Built in Test diagnostic results that are send out over the serial channel. To enable the BiTs will require the manual input of button presses using the Roomba User Interface.

That has been there since the 500 series:

PostPosted: December 27th, 2016, 5:06 am
by Asdewq
That has been there since the 500 series:


https://youtube.com/watch?v=Thomnr6lqng