Roomba 980 Error 15

[misteryub]

My 980 just started having the Error 15 message. I tried doing the reboot as per iRobot, but no luck. Anyone have any idea how to fix this?

[vic7767]

If your 980 is under warranty then contact iRobot for a replacement. If not under warranty you might want to open your 980 up and see if you can discover if the robot has any poorly connected cables, possibly dirty camera lens, a poor battery connection due to a cold solder joint or poor spring tension of the battery tangs that make contact with the battery pack.

[a1robotrepair]

Indicators
Roomba says “Error 15. Press CLEAN to restart.”

Overview
Roomba is experiencing an internal communication error. that stinks Press CLEAN to restart the cleaning mission. If problem persists, perform a robot reboot.stinks more

If the message persists after rebooting the robot, please contact iRobot Customer Care.hopefully still under warranty

You could try going to the app. More soft key, Settings soft key, Reset "your bots name".

[bibb]

Any one have any technical suggestions for this Roomba-(internal communication error). Error 15. I am stumped, and on a OOW roomba.

[vic7767]

As a1 suggested, use your APP and reset your Roomba. If that doesn't work check the camera lens cover for dust or other debris. You might consider removing the battery for a minute then replace it and see what happens. Err 15 internal comm error is a new error only in the 900 series so not sure what comm area is not working within the internal circuitry.

[a1robotrepair]

One con only speculate what E15 is. I would suspect navigation sensors or Wifi. If you have a USB to micro USB, andrino cable, run the BITs and find the failure. Search for "980 arrived" by Vic7767 for more info how to do this.

Vic7767,
Here is a capture dump of the 980 BiTs. Not all tests were attempted but each test was entered to get text info.

=~=~=~=~=~=~=~=~=~=~=~= PuTTY log 2015.09.25 21:58:25 =~=~=~=~=~=~=~=~=~=~=~=
key-wakeup
slept for 2 minutes 16 seconds

2015-08-01-1243-L
roomba-mobility/tags/v1.2.3:4060 CLEAN

bootloader id: 30F7 4808 1150 8620
robot-assembly: a
board-revision: rev-a
hw-configuration: a
audio image status: ok , audio flash format: 5, pack ID: 5, Flash Image Name: El Paso PP NA

enabled language: en-US (0)
battery-current-zero 256
BOOTLOADER-ID 30F7 4808 1150 8620
ROBOT-ASSEMBLY a
BOARD-REVISION rev-a
HW-CONFIG a
audio image status: ok , audio flash format: 5, pack ID: 5, Flash Image Name: El Paso PP NA



factory-test 0 leds
wait: false


factory-test 1 bumpers
(robot-assembly-valid?) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS
(and (bump-left?) (not (bump-right?))) PASS
(and (bump-right?) (not (bump-left?))) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS


factory-test 2 cliffs-side
wiff: cliff-left signal 650 on? 0
wiff: cliff-front-left signal 608 on? 0
wiff: cliff-front-right signal 692 on? 0
wiff: cliff-right signal 706 on? 0
wiff: rear-cliff-left signal 0 on? 1
wiff: rear-cliff-right signal 483 on? 0
wiff: lt-bumper-center-right signal 0 on? 0
wiff: lt-bumper-front-left signal 0 on? 0
wiff: lt-bumper-side-left signal -1 on? 0
wiff: lt-bumper-right signal 0 on? 0
wiff: lt-bumper-left signal 1 on? 0
wiff: lt-bumper-center-left signal 1 on? 0
wiff: lt-bumper-front-right signal 0 on? 0
(cliff-left?)

factory-test 3 cliffs-front
(cliff-front-left?)

factory-test 4 rear-cliffs
(rear-cliff-left?)

factory-test 5 lt-bumper-side
wiff: cliff-left signal 644 on? 0
wiff: cliff-front-left signal 603 on? 0
wiff: cliff-front-right signal 708 on? 0
wiff: cliff-right signal 702 on? 0
wiff: rear-cliff-left signal 0 on? 1
wiff: rear-cliff-right signal 484 on? 0
wiff: lt-bumper-center-right signal 0 on? 0
wiff: lt-bumper-front-left signal 0 on? 0
wiff: lt-bumper-side-left signal 2 on? 0
wiff: lt-bumper-right signal 2 on? 0
wiff: lt-bumper-left signal 0 on? 0
wiff: lt-bumper-center-left signal 1 on? 0
wiff: lt-bumper-front-right signal 0 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 left-wall-follower
(and (lt-bumper-side-left?) (not (bump?))) PASS


factory-test 9 wheel-drop
(wheel-drop-left?) PASS
(wheel-drop-right?) PASS


factory-test 10 omni-receiver
(rcon?)

factory-test 11 binoculars
(valid-code-in-channel? dir-left)

factory-test 12 battery-sensors
(battery-voltage-ok?) mV 562 min 431 max 647 PASS
(battery-temperature-ok?) PASS
(baseline-current-ok?) mA -214 min -350 max -80 mV 15641 degrees-C 10 PASS


factory-test 13 left-wheel
not (left-wheel-stall?) PASS
(drive-speed-ok? left forward) FAIL
(drive-speed-ok? right stopped) FAIL
(left-drive-current-ok?) mA -463 min -150 max -50 mV 15585 degrees-C 17 FAIL
not (left-wheel-stall?) PASS
wait: (left-wheel-stall?)


factory-test 14 right-wheel
not (right-wheel-stall?) PASS
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right forward) PASS
(right-drive-current-ok?) mA -307 min -150 max -50 mV 15613 degrees-C 27 FAIL
not (right-wheel-stall?) PASS
wait: (right-wheel-stall?)


factory-test 15 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 16 main-brush
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -211 min -500 max -100 mV 15613 degrees-C 28 PASS
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -206 min -500 max -100 mV 15641 degrees-C 17 PASS
not (main-brush-motor-stall?) PASS
wait: (main-brush-motor-stall?)


factory-test 17 debris
(piezo-debris?)

factory-test 18 vacuum
(baseline-current-ok?) mA -211 min -350 max -80 mV 15641 degrees-C 18 PASS
(lex-bin-low-vacuum-current-ok?) mA -1366 min -6000 max 0 mV 15530 degrees-C 10 PASS
not (vacuum-high-current-error?) PASS
(lex-bin-high-vacuum-current-ok?) mA -2293 min -6000 max 0 mV 15307 degrees-C 17 PASS


factory-test 19 side-brush
not (side-brush-motor-stall?) PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -88 min -150 max -30 mV 15613 degrees-C 20 PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -102 min -150 max -30 mV 15613 degrees-C 25 PASS
wait: (side-brush-motor-stall?)


factory-test 20 navigation-sensors
wait: (= nav-factory-test-mode mission-state-testing-bit)
wait: (nav-status-flag? passive-test-ready)
(behaviorlink-gyro-ok?) PASS
wait: (/= nav-factory-test-mode mission-state-testing-bit)
wait: (/= (nav-bit-report.get-flags) -1)
navigation-sensors results
calibration optical-floor-sensor:1 gyro-gain:1 gyro-linearity:1 camera-int:1 camera-ext:1
flags:0 gyro:162 deg odom:348 deg mouse:142 mm arclen:367 mm
current delta odom:186 deg max delta odom:20 deg current delta mouse:225 mm max delta mouse:30 mm
(nav-calibration-ok?) PASS
(optical-floor-sensor-ok?) FAIL
(gyro-sensor-ok?) FAIL


factory-test 21 optical-bin-sensors
left-near: -1
left-far: 0
right-near: 0
right-far: 0
(optical-bin-sensor-level-ok? left near emitter-low) PASS
(optical-bin-sensor-level-ok? left far emitter-low) PASS
(optical-bin-sensor-level-ok? right near emitter-low) PASS
(optical-bin-sensor-level-ok? right far emitter-low) PASS
left-near: -1
left-far: 862
right-near: 0
right-far: 868
(optical-bin-sensor-level-ok? left near emitter-high) PASS
(optical-bin-sensor-level-ok? left far emitter-high) PASS
(optical-bin-sensor-level-ok? right near emitter-high) PASS
(optical-bin-sensor-level-ok? right far emitter-high) PASS


factory-test 22 ext-charger-recovery
not (ext-charger-available?) PASS
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 23 ext-charger-on
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 24 ext-charger-trickle
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 25 charger-watchdog
wait-true-for-time (32 ticks): (ext-charger-available?)


factory-test 26 wifi
(wifi-cloud-auth-ok) PASS
(wifi-module-ok?) PASS
(wifi-antenna-ok?) PASS


factory-test 27 software
sys config: 0 (0b0000000000000000)
(bootloader-ok?) PASS
(application-ok?) PASS


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


factory-test 29 serial-flash
wait: (audio-header-crc-done?)
(audio-header-crc-passed?) PASS


factory-test 30 cliff-calibration
(calibration-data-stored?) PASS


factory-test 31 save-factory-test-data
(factory-test-data-saved?) PASS



SUMMARY: START
SUMMARY: DATE-TAG 2015-08-01-1243-L
SUMMARY: BOOTLOADER-ID 30F7 4808 1150 8620
SUMMARY: ROBOT-ASSEMBLY a
SUMMARY: BOARD-REVISION rev-a
SUMMARY: HW-CONFIG a
SUMMARY: SW-CONFIG 0 (0b0000000000000000)
SUMMARY: audio flash format: 5, pack ID: 5
SUMMARY: audio image status: ok
SUMMARY: AVAILABLE LANGUAGE(S): en-US (0) fr-FR (1) es-ES (2) de-DE (3) it-IT (4)
SUMMARY: ENABLED LANGUAGE: en-US (0)
SUMMARY: cliff calibration: L 40 FL 70 FR 60 R 50 RL 20 RR 10
SUMMARY: FACTORY-TEST INCOMPLETE
SUMMARY: (robot-assembly-valid?) PASS
SUMMARY: (and (not (bump-left?)) (not (bump-right?))) PASS
SUMMARY: (and (bump-left?) (not (bump-right?))) PASS
SUMMARY: (and (bump-right?) (not (bump-left?))) PASS
SUMMARY: (cliff-left?) FAIL
SUMMARY: (cliff-right?) untested
SUMMARY: (cliff-front-left?) FAIL
SUMMARY: (cliff-front-right?) untested
SUMMARY: (rear-cliff-left?) FAIL
SUMMARY: (rear-cliff-right?) untested
SUMMARY: (and (lt-bumper-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-front-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-front-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-center-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-center-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-side-left?) (not (bump?))) PASS
SUMMARY: (wheel-drop-left?) PASS
SUMMARY: (wheel-drop-right?) PASS
SUMMARY: (rcon?) FAIL
SUMMARY: (valid-code-in-channel? dir-left) FAIL
SUMMARY: (valid-code-in-channel? dir-right) untested
SUMMARY: (battery-voltage-ok?) PASS mV 562 min 431 max 647
SUMMARY: (battery-temperature-ok?) PASS
SUMMARY: (baseline-current-ok?) PASS mA -211 min -350 max -80 mV 15641 degrees-C 18
SUMMARY: (left-wheel-stall?) PASS
SUMMARY: (drive-speed-ok? left forward) FAIL
SUMMARY: (drive-speed-ok? right stopped) PASS
SUMMARY: (left-drive-current-ok?) FAIL mA -463 min -150 max -50 mV 15585 degrees-C 17
SUMMARY: (left-drive-stall-current-ok?) untested
SUMMARY: (right-wheel-stall?) PASS
SUMMARY: (drive-speed-ok? right forward) PASS
SUMMARY: (drive-speed-ok? left stopped) PASS
SUMMARY: (right-drive-current-ok?) FAIL mA -307 min -150 max -50 mV 15613 degrees-C 27
SUMMARY: (right-drive-stall-current-ok?) untested
SUMMARY: (drive-speed-ok? left reverse) PASS
SUMMARY: (drive-speed-ok? right reverse) PASS
SUMMARY: (main-brush-motor-stall?) PASS
SUMMARY: (bristle-main-brush-current-ok?) disabled
SUMMARY: (roller-main-brush-current-ok?) PASS mA -206 min -500 max -100 mV 15641 degrees-C 17
SUMMARY: (main-brush-stall-current-ok?) untested
SUMMARY: (piezo-debris?) FAIL
SUMMARY: (lex-bin-low-vacuum-current-ok?) PASS mA -1366 min -6000 max 0 mV 15530 degrees-C 10
SUMMARY: (vacuum-high-current-error?) PASS
SUMMARY: (aerovac-bin-vacuum-current-ok?) disabled
SUMMARY: (lex-bin-high-vacuum-current-ok?) PASS mA -2293 min -6000 max 0 mV 15307 degrees-C 17
SUMMARY: (side-brush-motor-stall?) PASS
SUMMARY: (side-brush-current-ok?) PASS mA -102 min -150 max -30 mV 15613 degrees-C 25
SUMMARY: (side-brush-stall-current-ok?) untested
SUMMARY: (optical-floor-sensor-ok?) FAIL
SUMMARY: (gyro-sensor-ok?) FAIL
SUMMARY: (behaviorlink-gyro-ok?) PASS
SUMMARY: (nav-calibration-ok?) PASS
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) PASS
SUMMARY: (ext-charger-available?) PASS
SUMMARY: (ext-charging-recovery-current-ok?) untested
SUMMARY: (ext-charging-current-ok?) untested
SUMMARY: (ext-charging-trickle-current-ok?) untested
SUMMARY: (ext-charging-watchdog-current-ok?) untested
SUMMARY: (wifi-module-ok?) PASS
SUMMARY: (wifi-antenna-ok?) PASS
SUMMARY: (wifi-cloud-auth-ok) PASS
SUMMARY: (bootloader-ok?) PASS
SUMMARY: (application-ok?) PASS
SUMMARY: (bbox-test-write-succeeded?) PASS
SUMMARY: (audio-header-crc-passed?) PASS
SUMMARY: (calibration-data-stored?) PASS
SUMMARY: (factory-test-data-saved?) PASS
SUMMARY: END

[misteryub]

So I went and I ran the BITs on my 980 with the Error 15.

The tests I was having issues with are

Code: Select all

factory-test 10  omni-receiver
(rcon?)

which didn't work with a virtual wall I have, and

Code: Select all

factory-test 20  navigation-sensors (disabled)

This looks like it's the issue. In the summary, it says this:

Code: Select all

SUMMARY: (optical-floor-sensor-ok?) disabled 
SUMMARY: (gyro-sensor-ok?) disabled 
SUMMARY: (behaviorlink-gyro-ok?) disabled 
SUMMARY: (nav-calibration-ok?) disabled 

Any ideas on how to fix this?

Complete BITs:

Code: Select all

key-wakeup
slept for 0 minutes 1 seconds

2015-08-01-1243-L   
roomba-mobility/tags/v1.2.3:4060 CLEAN

bootloader id: 30F7 0124 5092 5770
robot-assembly: a
board-revision: rev-a
hw-configuration: a
audio image status: ok , audio flash format: 5, pack ID: 5, Flash Image Name: El Paso PP NA

enabled language: en-US (0)
battery-current-zero 251
BOOTLOADER-ID 30F7 0124 5092 5770
ROBOT-ASSEMBLY a
BOARD-REVISION rev-a
HW-CONFIG a
audio image status: ok , audio flash format: 5, pack ID: 5, Flash Image Name: El Paso PP NA



factory-test 0  leds
wait: false


factory-test 1  bumpers
(robot-assembly-valid?) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS
(and (bump-left?) (not (bump-right?))) PASS
(and (bump-right?) (not (bump-left?))) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS


factory-test 2  cliffs-side
wiff: cliff-left signal 2348  on? 0
wiff: cliff-front-left signal 2346  on? 0
wiff: cliff-front-right signal 2339  on? 0
wiff: cliff-right signal 2347  on? 0
wiff: rear-cliff-left signal 2192  on? 0
wiff: rear-cliff-right signal 2214  on? 0
wiff: lt-bumper-center-right signal 0  on? 0
wiff: lt-bumper-front-left signal 0  on? 0
wiff: lt-bumper-side-left signal 5  on? 0
wiff: lt-bumper-right signal 19  on? 0
wiff: lt-bumper-left signal 4  on? 0
wiff: lt-bumper-center-left signal 11  on? 0
wiff: lt-bumper-front-right signal 3  on? 0
(cliff-left?) PASS
(cliff-right?) PASS


factory-test 3  cliffs-front
(cliff-front-left?) PASS
(cliff-front-right?) PASS


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


factory-test 5  lt-bumper-side
wiff: cliff-left signal 2333  on? 0
wiff: cliff-front-left signal 2335  on? 0
wiff: cliff-front-right signal 2330  on? 0
wiff: cliff-right signal 2342  on? 0
wiff: rear-cliff-left signal 2170  on? 0
wiff: rear-cliff-right signal 2208  on? 0
wiff: lt-bumper-center-right signal 0  on? 0
wiff: lt-bumper-front-left signal 0  on? 0
wiff: lt-bumper-side-left signal 3  on? 0
wiff: lt-bumper-right signal 35  on? 0
wiff: lt-bumper-left signal 4  on? 0
wiff: lt-bumper-center-left signal 9  on? 0
wiff: lt-bumper-front-right signal 6  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  left-wall-follower
(and (lt-bumper-side-left?) (not (bump?))) PASS


factory-test 9  wheel-drop
(wheel-drop-left?) PASS
(wheel-drop-right?) PASS


factory-test 10  omni-receiver
(rcon?)
[Disconnected]
[Connected]


factory-test 9  wheel-drop
(wheel-drop-left?)

factory-test 10  omni-receiver
(rcon?)saving bbox vars
bbox vars saved!


factory-test 9  wheel-drop
(wheel-drop-left?)

factory-test 10  omni-receiver
(rcon?)

factory-test 11  binoculars
(valid-code-in-channel? dir-left)
[Disconnected]
[Connected]
[Disconnected]
[Connected]
[Disconnected]
[Connected]
[Disconnected]
[Connected]
[Disconnected]
[Connected]
bat:   min 754  sec 21  mV 17172  mA 47  tenths-deg-C 362  mAH 2696  state 11  mode 3 
bat:   min 754  sec 22  mV 17172  mA 47  tenths-deg-C 362  mAH 2696  state 11  mode 3 
bat:   min 754  sec 23  mV 17172  mA 47  tenths-deg-C 362  mAH 2696  state 11  mode 3 
bat:   min 754  sec 24  mV 17172  mA 47  tenths-deg-C 361  mAH 2696  state 11  mode 3 
bat:   min 754  sec 25  mV 17172  mA 39  tenths-deg-C 362  mAH 2696  state 11  mode 3 
bat:   min 754  sec 26  mV 17172  mA 47  tenths-deg-C 362  mAH 2696  state 11  mode 3 
bat:   min 754  sec 27  mV 17172  mA 47  tenths-deg-C 362  mAH 2696  state 11  mode 3 
saving bbox vars
key-wakeup
slept for 0 minutes 0 seconds

2015-08-01-1243-L   
roomba-mobility/tags/v1.2.3:4060 CLEAN

bootloader id: 30F7 0124 5092 5770
robot-assembly: a
board-revision: rev-a
hw-configuration: a
audio image status: ok , audio flash format: 5, pack ID: 5, Flash Image Name: El Paso PP NA

enabled language: en-US (0)
battery-current-zero 252
BOOTLOADER-ID 30F7 0124 5092 5770
ROBOT-ASSEMBLY a
BOARD-REVISION rev-a
HW-CONFIG a
audio image status: ok , audio flash format: 5, pack ID: 5, Flash Image Name: El Paso PP NA



factory-test 0  leds
wait: false
bbox vars saved!


factory-test 1  bumpers
(robot-assembly-valid?) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS
(and (bump-left?) (not (bump-right?))) PASS
(and (bump-right?) (not (bump-left?))) PASS
(and (not (bump-left?)) (not (bump-right?))) PASS


factory-test 2  cliffs-side
wiff: cliff-left signal 2398  on? 0
wiff: cliff-front-left signal 2368  on? 0
wiff: cliff-front-right signal 2377  on? 0
wiff: cliff-right signal 2390  on? 0
wiff: rear-cliff-left signal 2240  on? 0
wiff: rear-cliff-right signal 2296  on? 0
wiff: lt-bumper-center-right signal 1  on? 0
wiff: lt-bumper-front-left signal 0  on? 0
wiff: lt-bumper-side-left signal 4  on? 0
wiff: lt-bumper-right signal 26  on? 0
wiff: lt-bumper-left signal 3  on? 0
wiff: lt-bumper-center-left signal 11  on? 0
wiff: lt-bumper-front-right signal 6  on? 0
(cliff-left?) PASS
(cliff-right?) PASS


factory-test 3  cliffs-front
(cliff-front-left?) PASS
(cliff-front-right?) PASS


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


factory-test 5  lt-bumper-side
wiff: cliff-left signal 2403  on? 0
wiff: cliff-front-left signal 2387  on? 0
wiff: cliff-front-right signal 2369  on? 0
wiff: cliff-right signal 2403  on? 0
wiff: rear-cliff-left signal 2223  on? 0
wiff: rear-cliff-right signal 2274  on? 0
wiff: lt-bumper-center-right signal 0  on? 0
wiff: lt-bumper-front-left signal 1  on? 0
wiff: lt-bumper-side-left signal 3  on? 0
wiff: lt-bumper-right signal 17  on? 0
wiff: lt-bumper-left signal 4  on? 0
wiff: lt-bumper-center-left signal 12  on? 0
wiff: lt-bumper-front-right signal 8  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  left-wall-follower
(and (lt-bumper-side-left?) (not (bump?))) PASS


factory-test 9  wheel-drop
(wheel-drop-left?) PASS
(wheel-drop-right?) PASS


factory-test 10  omni-receiver
(rcon?)

factory-test 11  binoculars
(valid-code-in-channel? dir-left) PASS
(valid-code-in-channel? dir-right) PASS


factory-test 12  battery-sensors
(battery-voltage-ok?) mV 607  min 431 max 647  PASS
(battery-temperature-ok?) PASS
(baseline-current-ok?) mA -251  min -350 max -80 mV 16894 degrees-C 35  PASS


factory-test 13  left-wheel
not (left-wheel-stall?) PASS
(drive-speed-ok? left forward) PASS
(drive-speed-ok? right stopped) PASS
(left-drive-current-ok?) mA -128  min -150 max -50 mV 16866 degrees-C 35  PASS
not (left-wheel-stall?) PASS
wait: (left-wheel-stall?)
(left-wheel-stall?) PASS
(left-drive-stall-current-ok?) mA -920  min -1035 max -865 mV 16810 degrees-C 35  PASS
(left-wheel-stall?) PASS
wait: (not (left-wheel-stall?))


factory-test 14  right-wheel
not (right-wheel-stall?) PASS
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right forward) PASS
(right-drive-current-ok?) mA -78  min -150 max -50 mV 16810 degrees-C 35  PASS
not (right-wheel-stall?) PASS
wait: (right-wheel-stall?)
(right-wheel-stall?) PASS
(right-drive-stall-current-ok?) mA -75  min -1035 max -865 mV 16810 degrees-C 35  FAIL
(right-wheel-stall?) FAIL
wait: (not (right-wheel-stall?))


factory-test 13  left-wheel
not (left-wheel-stall?) PASS
(drive-speed-ok? left forward) PASS
(drive-speed-ok? right stopped) PASS
(left-drive-current-ok?)

factory-test 14  right-wheel
not (right-wheel-stall?) PASS
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right forward) PASS
(right-drive-current-ok?) mA -75  min -150 max -50 mV 16810 degrees-C 35  PASS
not (right-wheel-stall?) PASS
wait: (right-wheel-stall?)
(right-wheel-stall?) PASS
(right-drive-stall-current-ok?) mA -665  min -1035 max -865 mV 16782 degrees-C 35  FAIL
(right-wheel-stall?) PASS
wait: (not (right-wheel-stall?))


factory-test 13  left-wheel
not (left-wheel-stall?) PASS
(drive-speed-ok? left forward) PASS
(drive-speed-ok? right stopped) PASS
(left-drive-current-ok?) mA -131  min -150 max -50 mV 16782 degrees-C 35  PASS
not (left-wheel-stall?) PASS
wait: (left-wheel-stall?)
(left-wheel-stall?) PASS
(left-drive-stall-current-ok?) mA -918  min -1035 max -865 mV 16754 degrees-C 35  PASS
(left-wheel-stall?) PASS
wait: (not (left-wheel-stall?))


factory-test 14  right-wheel
not (right-wheel-stall?) PASS
(drive-speed-ok? left stopped) PASS
(drive-speed-ok? right forward) PASS
(right-drive-current-ok?) mA -78  min -150 max -50 mV 16810 degrees-C 35  PASS
not (right-wheel-stall?) PASS
wait: (right-wheel-stall?)
(right-wheel-stall?) PASS
(right-drive-stall-current-ok?) mA -908  min -1035 max -865 mV 16754 degrees-C 35  PASS
(right-wheel-stall?) PASS
wait: (not (right-wheel-stall?))


factory-test 15  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 16  main-brush
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -294  min -500 max -100 mV 16754 degrees-C 35  PASS
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -357  min -500 max -100 mV 16754 degrees-C 35  PASS
not (main-brush-motor-stall?) PASS
wait: (main-brush-motor-stall?)


factory-test 17  debris
(piezo-debris?)

factory-test 16  main-brush
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -319  min -500 max -100 mV 16671 degrees-C 35  PASS
not (main-brush-motor-stall?) PASS
(roller-main-brush-current-ok?) mA -305  min -500 max -100 mV 16671 degrees-C 35  PASS
not (main-brush-motor-stall?) PASS
wait: (main-brush-motor-stall?)


factory-test 17  debris
(piezo-debris?)

factory-test 18  vacuum
(baseline-current-ok?) mA -260  min -350 max -80 mV 16671 degrees-C 35  PASS
(lex-bin-low-vacuum-current-ok?) mA -1392  min -6000 max 0 mV 16560 degrees-C 35  PASS
not (vacuum-high-current-error?) PASS
(lex-bin-high-vacuum-current-ok?) mA -2337  min -6000 max 0 mV 16365 degrees-C 35  PASS


factory-test 19  side-brush
not (side-brush-motor-stall?) PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -77  min -150 max -30 mV 16560 degrees-C 35  PASS
not (side-brush-motor-stall?) PASS
(side-brush-current-ok?) mA -79  min -150 max -30 mV 16560 degrees-C 35  PASS
wait: (side-brush-motor-stall?)
(side-brush-motor-stall?) PASS
(side-brush-stall-current-ok?) mA -421  min -550 max -400 mV 16560 degrees-C 35  PASS
(side-brush-motor-stall?) PASS
wait: (not (side-brush-motor-stall?))


factory-test 20  navigation-sensors (disabled)


factory-test 21  optical-bin-sensors
left-near: 0
left-far: -1
right-near: 0
right-far: -1
(optical-bin-sensor-level-ok? left near emitter-low) PASS
(optical-bin-sensor-level-ok? left far emitter-low) PASS
(optical-bin-sensor-level-ok? right near emitter-low) PASS
(optical-bin-sensor-level-ok? right far emitter-low) PASS
left-near: -2
left-far: 869
right-near: 1
right-far: 871
(optical-bin-sensor-level-ok? left near emitter-high) PASS
(optical-bin-sensor-level-ok? left far emitter-high) PASS
(optical-bin-sensor-level-ok? right near emitter-high) PASS
(optical-bin-sensor-level-ok? right far emitter-high) PASS


factory-test 22  ext-charger-recovery
not (ext-charger-available?) PASS
wait-true-for-time (32 ticks): (ext-charger-available?)
(ext-charging-recovery-current-ok?) mA 180  min 250 max 350 mV 16615 degrees-C 35  FAIL


factory-test 21  optical-bin-sensors
left-near: 0
left-far: 15
right-near: 0
right-far: 15
(optical-bin-sensor-level-ok? left near emitter-low) PASS
(optical-bin-sensor-level-ok? left far emitter-low) PASS
(optical-bin-sensor-level-ok? right near emitter-low) PASS
(optical-bin-sensor-level-ok? right far emitter-low) PASS
left-near: 0
left-far: 883
right-near: 0
right-far: 884
(optical-bin-sensor-level-ok? left near emitter-high) PASS
(optical-bin-sensor-level-ok? left far emitter-high) PASS
(optical-bin-sensor-level-ok? right near emitter-high) PASS
(optical-bin-sensor-level-ok? right far emitter-high) PASS


factory-test 22  ext-charger-recovery
not (ext-charger-available?) FAIL
wait-true-for-time (32 ticks): (ext-charger-available?)
(ext-charging-recovery-current-ok?) mA 293  min 250 max 350 mV 16754 degrees-C 35  PASS


factory-test 23  ext-charger-on
wait-true-for-time (32 ticks): (ext-charger-available?)
(ext-charging-current-ok?) mA 1090  min 1000 max 1400 mV 16894 degrees-C 35  PASS


factory-test 24  ext-charger-trickle
wait-true-for-time (32 ticks): (ext-charger-available?)
(ext-charging-trickle-current-ok?) mA 49  min 40 max 70 mV 16754 degrees-C 35  PASS


factory-test 25  charger-watchdog
wait-true-for-time (32 ticks): (ext-charger-available?)
(ext-charging-watchdog-current-ok?) mA -8  min -31 max 31 mV 16754 degrees-C 35  PASS


factory-test 26  wifi
(wifi-cloud-auth-ok) PASS
(wifi-module-ok?) PASS
(wifi-antenna-ok?) PASS


factory-test 27  software
sys config: 0 (0b0000000000000000)
(bootloader-ok?) PASS
(application-ok?) PASS


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


factory-test 29  serial-flash
wait: (audio-header-crc-done?)
(audio-header-crc-passed?) PASS


factory-test 30  cliff-calibration
(calibration-data-stored?) PASS


factory-test 31  save-factory-test-data
(factory-test-data-saved?) PASS



SUMMARY: START
SUMMARY: DATE-TAG 2015-08-01-1243-L   
SUMMARY: BOOTLOADER-ID 30F7 0124 5092 5770
SUMMARY: ROBOT-ASSEMBLY a
SUMMARY: BOARD-REVISION rev-a
SUMMARY: HW-CONFIG a
SUMMARY: SW-CONFIG 0 (0b0000000000000000)
SUMMARY: audio flash format: 5, pack ID: 5
SUMMARY: audio image status: ok
SUMMARY: AVAILABLE LANGUAGE(S): en-US (0) fr-FR (1) es-ES (2) de-DE (3) it-IT (4)
SUMMARY: ENABLED LANGUAGE: en-US (0)
SUMMARY: cliff calibration: L 30 FL 100 FR 70 R 30 RL 10 RR 30
SUMMARY: FACTORY-TEST INCOMPLETE
SUMMARY: (robot-assembly-valid?) PASS 
SUMMARY: (and (not (bump-left?)) (not (bump-right?))) PASS 
SUMMARY: (and (bump-left?) (not (bump-right?))) PASS 
SUMMARY: (and (bump-right?) (not (bump-left?))) PASS 
SUMMARY: (cliff-left?) PASS 
SUMMARY: (cliff-right?) PASS 
SUMMARY: (cliff-front-left?) PASS 
SUMMARY: (cliff-front-right?) PASS 
SUMMARY: (rear-cliff-left?) PASS 
SUMMARY: (rear-cliff-right?) PASS 
SUMMARY: (and (lt-bumper-left?) (not (bump?))) PASS 
SUMMARY: (and (lt-bumper-right?) (not (bump?))) PASS 
SUMMARY: (and (lt-bumper-front-left?) (not (bump?))) PASS 
SUMMARY: (and (lt-bumper-front-right?) (not (bump?))) PASS 
SUMMARY: (and (lt-bumper-center-left?) (not (bump?))) PASS 
SUMMARY: (and (lt-bumper-center-right?) (not (bump?))) PASS 
SUMMARY: (and (lt-bumper-side-left?) (not (bump?))) PASS 
SUMMARY: (wheel-drop-left?) PASS 
SUMMARY: (wheel-drop-right?) PASS 
SUMMARY: (rcon?) FAIL 
SUMMARY: (valid-code-in-channel? dir-left) PASS 
SUMMARY: (valid-code-in-channel? dir-right) PASS 
SUMMARY: (battery-voltage-ok?) PASS  mV 607  min 431 max 647
SUMMARY: (battery-temperature-ok?) PASS 
SUMMARY: (baseline-current-ok?) PASS  mA -260  min -350 max -80 mV 16671 degrees-C 35
SUMMARY: (left-wheel-stall?) PASS 
SUMMARY: (drive-speed-ok? left forward) PASS 
SUMMARY: (drive-speed-ok? right stopped) PASS 
SUMMARY: (left-drive-current-ok?) PASS  mA -131  min -150 max -50 mV 16782 degrees-C 35
SUMMARY: (left-drive-stall-current-ok?) PASS  mA -918  min -1035 max -865 mV 16754 degrees-C 35
SUMMARY: (right-wheel-stall?) PASS 
SUMMARY: (drive-speed-ok? right forward) PASS 
SUMMARY: (drive-speed-ok? left stopped) PASS 
SUMMARY: (right-drive-current-ok?) PASS  mA -78  min -150 max -50 mV 16810 degrees-C 35
SUMMARY: (right-drive-stall-current-ok?) PASS  mA -908  min -1035 max -865 mV 16754 degrees-C 35
SUMMARY: (drive-speed-ok? left reverse) PASS 
SUMMARY: (drive-speed-ok? right reverse) PASS 
SUMMARY: (main-brush-motor-stall?) PASS 
SUMMARY: (bristle-main-brush-current-ok?) disabled 
SUMMARY: (roller-main-brush-current-ok?) PASS  mA -305  min -500 max -100 mV 16671 degrees-C 35
SUMMARY: (main-brush-stall-current-ok?) untested 
SUMMARY: (piezo-debris?) FAIL 
SUMMARY: (lex-bin-low-vacuum-current-ok?) PASS  mA -1392  min -6000 max 0 mV 16560 degrees-C 35
SUMMARY: (vacuum-high-current-error?) PASS 
SUMMARY: (aerovac-bin-vacuum-current-ok?) disabled 
SUMMARY: (lex-bin-high-vacuum-current-ok?) PASS  mA -2337  min -6000 max 0 mV 16365 degrees-C 35
SUMMARY: (side-brush-motor-stall?) PASS 
SUMMARY: (side-brush-current-ok?) PASS  mA -79  min -150 max -30 mV 16560 degrees-C 35
SUMMARY: (side-brush-stall-current-ok?) PASS  mA -421  min -550 max -400 mV 16560 degrees-C 35
SUMMARY: (optical-floor-sensor-ok?) disabled 
SUMMARY: (gyro-sensor-ok?) disabled 
SUMMARY: (behaviorlink-gyro-ok?) disabled 
SUMMARY: (nav-calibration-ok?) disabled 
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) PASS 
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) PASS 
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) PASS 
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) PASS 
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) PASS 
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) PASS 
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) PASS 
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) PASS 
SUMMARY: (ext-charger-available?) FAIL 
SUMMARY: (ext-charging-recovery-current-ok?) PASS  mA 293  min 250 max 350 mV 16754 degrees-C 35
SUMMARY: (ext-charging-current-ok?) PASS  mA 1090  min 1000 max 1400 mV 16894 degrees-C 35
SUMMARY: (ext-charging-trickle-current-ok?) PASS  mA 49  min 40 max 70 mV 16754 degrees-C 35
SUMMARY: (ext-charging-watchdog-current-ok?) PASS  mA -8  min -31 max 31 mV 16754 degrees-C 35
SUMMARY: (wifi-module-ok?) PASS 
SUMMARY: (wifi-antenna-ok?) PASS 
SUMMARY: (wifi-cloud-auth-ok) PASS 
SUMMARY: (bootloader-ok?) PASS 
SUMMARY: (application-ok?) PASS 
SUMMARY: (bbox-test-write-succeeded?) PASS 
SUMMARY: (audio-header-crc-passed?) PASS 
SUMMARY: (calibration-data-stored?) PASS 
SUMMARY: (factory-test-data-saved?) PASS 
SUMMARY: END


[a1robotrepair]

Disabled usually means that the input to the MCU is floating, disconnected. Reading that in the various sensor inputs, intermittently, you should look for the common supply/gnd for those devices, bad solder joint/board trace.

[a1robotrepair]

Bit 10 Rcon, place bot 6in, 15mm away from Dock facing it. Home button illuminated. Block Rcon from Dock, Home button dark, Pass in Term software.
Bit 17 Debris, remove extractors, tap debris sensor lightly with small screwdriver, Pass in Term.
Charging BITS 22-25, Do not place the bot on the charger until 10 seconds after entering BIT 22. Remove from Dock after BIT25 Pass.
Use manual BITs
Why are you using a NiMH battery?

[misteryub]

Everything looks fine to me. Do you have a pinout or diagrams or anything for me to refer to? Alternatively, know of any repair places or resources for replacement parts?

[misteryub]

And I'm using a NiMH battery because I need to buy a Li-ion battery.

[a1robotrepair]

Reading your BIT results.
Omni receiver no result, I'm guessing the connected, disconnected result came from placing the bot on the charger.
Factory test 20 navigation-sensors disabled. This is not right, should pass or fail.
Check connections.

The camera board is connected to the UI board via the grey cable. The UI board is connected to the main board via the 40 pin connector.

[misteryub]

All connections look good. I don't see any areas with bad solder joints.

[a1robotrepair]

The first thing I would look to fix is the Rcon and Binoculars. Why, I can find information on them in here and they haven't changed from the 4000 series. Also, many times fixing known easy problems will take care of the unknown ones. Your bot should run ok on NiMH? 2015 update.

Also check the floor sensor connector, ignore the red & blue wires, you won't have them.

[przemo33]

Hey,
Have you managed to solve the problem of error 15?

greetings

[Ruru]

Hi All! I have the same "Error 15" issue!
Did anyone resolved it? or have any ideas how to fix it?
I have checked connections, everything looks quite good? May be there is a need to change some module?
May be there is a need to downgrade firmware if possible?
I would appreciate any reply or advise!

[a1robotrepair]

The best you can do is run the built in tests with a micro USB to USB cable running terminal software to view the bits.
Error 15 typically came up with a gyro sensor fail, but not necessarily the problem.

@Ruru, got your email and globally deleted it with a bunch of others I wish I hadn't.

[Ruru]

The best you can do is run the built in tests with a micro USB to USB cable running terminal software to view the bits.
Error 15 typically came up with a gyro sensor fail, but not necessarily the problem.

@Ruru, got your email and globally deleted it with a bunch of others I wish I hadn't.

Hi! Could you please check log of BITs in the attached file?
Seems that gyro sensor is OK.
When it came to test of wheels it started to rotate without stopping. The only thing could stop it is to press Spot to go the next test. May be there is a problem?

Below you can see which tests were failed or not tested.
Could you please tell me if you see some troubles that can influence on the error 15?

factory-test 17 debris
(piezo-debris?)

factory-test 24 ext-charger-trickle
wait-true-for-time (32 ticks): (ext-charger-available?)
(ext-charging-trickle-current-ok?) mA -4 min 40 max 70 mV 15975 degrees-C 14 FAIL

But in Summary another picture. There are more tests failed???

SUMMARY: START
SUMMARY: DATE-TAG 2017-12-05-1454-L

Is this manufacture date?

SUMMARY: BOOTLOADER-ID 6945 050C 0131 1620
SUMMARY: ROBOT-ASSEMBLY a
SUMMARY: MOBILTIY-BOARD-REVISION rev-a
SUMMARY: UI-BOARD-REVISION a
SUMMARY: SW-CONFIG 0 (0b0000000000000000)
SUMMARY: audio flash format: 5, pack ID: 49
SUMMARY: audio image status: ok
SUMMARY: AVAILABLE LANGUAGE(S): en-US (0) ru-RU (1)
SUMMARY: ENABLED LANGUAGE: en-US (0)
SUMMARY: cliff calibration: L 30 FL 140 FR 90 R 50 RL 40 RR 20
SUMMARY: FACTORY-TEST INCOMPLETE

Why it's incomplete

SUMMARY: t PASS
SUMMARY: (robot-assembly-ok?) PASS
SUMMARY: (and (not (bump-left?)) (not (bump-right?))) FAIL
SUMMARY: (and (bump-left?) (not (bump-right?))) FAIL
SUMMARY: (and (bump-right?) (not (bump-left?))) PASS
SUMMARY: (cliff-left-bit?) FAIL
SUMMARY: (cliff-right-bit?) PASS
SUMMARY: (cliff-front-left-bit?) PASS
SUMMARY: (cliff-front-right-bit?) PASS
SUMMARY: (rear-cliff-left-bit?) PASS
SUMMARY: (rear-cliff-right-bit?) PASS
SUMMARY: (and (lt-bumper-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-front-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-front-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-center-left?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-center-right?) (not (bump?))) PASS
SUMMARY: (and (lt-bumper-side-left?) (not (bump?))) PASS
SUMMARY: (wheel-drop-left?) PASS
SUMMARY: (wheel-drop-right?) PASS
SUMMARY: (rcon?) PASS
SUMMARY: (valid-code-in-channel? dir-left) PASS
SUMMARY: (valid-code-in-channel? dir-right) PASS
SUMMARY: (battery-voltage-ok?) PASS mV 574 min 431 max 647
SUMMARY: (battery-temperature-ok?) PASS
SUMMARY: (baseline-current-ok?) PASS mA -217 min -350 max -80 mV 15947 degrees-C 29
SUMMARY: (left-wheel-stall?) PASS
SUMMARY: (drive-speed-ok? left forward) PASS
SUMMARY: (drive-speed-ok? right stopped) PASS
SUMMARY: (left-drive-current-ok?) FAIL mA -221 min -175 max -50 mV 15947 degrees-C 19
SUMMARY: (left-drive-stall-current-ok?) untested
SUMMARY: (right-wheel-stall?) PASS
SUMMARY: (drive-speed-ok? right forward) PASS
SUMMARY: (drive-speed-ok? left stopped) PASS
SUMMARY: (right-drive-current-ok?) FAIL mA -290 min -175 max -50 mV 15919 degrees-C 25
SUMMARY: (right-drive-stall-current-ok?) FAIL mA -762 min -1035 max -865 mV 15641 degrees-C 22
SUMMARY: (drive-speed-ok? left reverse) PASS
SUMMARY: (drive-speed-ok? right reverse) PASS
SUMMARY: (main-brush-motor-stall?) PASS
SUMMARY: (bristle-main-brush-current-ok?) disabled
SUMMARY: (roller-main-brush-current-ok?) FAIL mA -804 min -590 max -100 mV 15808 degrees-C 20
SUMMARY: (main-brush-stall-current-ok?) untested
SUMMARY: (piezo-debris?) FAIL
SUMMARY: (init-vacuum-for-test) PASS
SUMMARY: (lex-bin-low-vacuum-current-ok?) PASS mA -1200 min -1600 max -980 mV 15613 degrees-C 24
SUMMARY: (vacuum-high-current-error?) PASS
SUMMARY: (ngcs-bin-vacuum-current-ok?) disabled
SUMMARY: (lex-bin-high-vacuum-current-ok?) PASS mA -2123 min -2700 max -1700 mV 15391 degrees-C 17
SUMMARY: (side-brush-motor-stall?) PASS
SUMMARY: (side-brush-current-ok?) PASS mA -96 min -170 max -10 mV 15892 degrees-C 24
SUMMARY: (side-brush-stall-current-ok?) untested
SUMMARY: (optical-floor-sensor-ok?) PASS
SUMMARY: (gyro-sensor-ok?) PASS
SUMMARY: (behaviorlink-gyro-ok?) PASS
SUMMARY: (nav-calibration-ok?) PASS
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) PASS
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) PASS
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) PASS
SUMMARY: (ext-charger-available?) PASS
SUMMARY: (ext-charging-recovery-current-ok?) PASS mA 263 min 250 max 350 mV 16059 degrees-C 16
SUMMARY: (ext-charging-current-ok?) PASS mA 1064 min 1000 max 1400 mV 16198 degrees-C 27
SUMMARY: (ext-charging-trickle-current-ok?) PASS mA 41 min 40 max 70 mV 15975 degrees-C 14
SUMMARY: (ext-charging-watchdog-current-ok?) PASS mA -8 min -31 max 31 mV 16003 degrees-C 15
SUMMARY: (wifi-module-ok?) PASS
SUMMARY: (wifi-antenna-ok?) PASS
SUMMARY: (bootloader-ok?) PASS
SUMMARY: (application-ok?) PASS
SUMMARY: (bbox-test-write-succeeded?) PASS
SUMMARY: (audio-header-crc-passed?) PASS
SUMMARY: (calibration-data-stored?) PASS
SUMMARY: (factory-test-data-saved?) PASS

Actually I don't think that brushes or wheel can give Error 15. Or?

[a1robotrepair]

1. Firmware revision.
2. You didn’t complete all the tests.
The right side bumper sensor and left middle cliff sensors could be your problem.
The wheel modules are also drawing too much current, replace.