Discovery/400 series Owners Manual

Dear iRobot Roomba Owner,

Thank you for purchasing an iRobot Roomba vacuum cleaning
robot. Youve joined the millions of people who clean with robots the smarter way to get it done.
Please take a few moments to read this manual and get acquainted
with your Roomba, to get the best performance from your robot.
If you have any questions, visit our website at www.irobot.com for
more information.
Register your robot to instantly activate your warranty and enjoy
these exclusive benefits:
Take advantage of iRobots award-winning customer service
Get support tailored to your specific robot, including answers
to questions, maintenance tips, video demos, live chat and
more.
Get product updates and other valuable information
Be among the first to find out about new robots, exclusive
discounts and special promotions.
When you register, you can also tell us about your experience
with your Roomba; iRobot listens to our customers and makes
enhancements to our robots based on your valued feedback. Wed
love to hear from you!
Register your robot right now at www.irobot.com/register.
On behalf of the entire team, thank you for choosing iRobot; we
appreciate your business, feedback and loyalty.
Heres to robots that make a difference!
Yours for less chores and more life,

Colin Angle
Chairman, CEO and Co-Founder
iRobot Corporation
P.S. Dont miss out on your exclusive benefits! Register your
Roomba online right now at www.irobot.com/register.

Important Tips
For Best Performance
Remove and clean Roombas brushes after every use.
Empty Roombas bin and clean its filter after every use.
Use a Virtual Wall (optional accessory) to keep Roomba cleaning where
you want it.
Use your Roomba frequently.

Battery Life
To extend Roombas battery life and keep Roomba cleaning at peak
performance:
Always keep Roomba plugged in when not in use.
Recharge Roomba as soon as possible. Waiting several days to
recharge Roomba can damage the battery.
For storage off the charger, remove the battery from Roomba and store
in a cool, dry place.
Blue or black batteries should be stored after Roomba has been
used.
Yellow batteries should be stored after being fully charged.

 oomba contains electronic parts. DO NOT submerge Roomba or spray it

R
with water. Clean with a dry cloth only.

For more detailed information, visit: www.irobot.com

Table of Contents
iRobot Roomba Anatomy...................................... 5 - 10
Cleaning Pattern..........................................................11
Cleaning Modes...........................................................11
Cleaning System..........................................................12
Battery Storage and Charging............................ 13 - 14
Virtual Wall (optional accessory for select models)... 15 - 16
Home Base (optional accessory for select models).........17
Remote Control

(optional accessory for select models).............................18

Scheduler Remote Control

(optional accessory for select models)..................... 19 - 23

Maintenance ....................................................... 24 - 25
Troubleshooting.......................................................... 26
Important Safety Instructions.................................... 27
iRobot Customer Care............................................... 28

iRobot Roomba Owners Manual

iRobot Roomba Anatomy

Cliff Sensor
Openings
Edge-Cleaning
Side Brush

Replaceable
Caster Wheel

Battery
Vacuum Inlet

Flexible
Brush

Brush Bearings

Main
Brush
Brush Caps
Brush
Guard

Brush Guard Release Tabs

For more detailed information, visit: www.irobot.com

iRobot Roomba Anatomy

4000 Model Series
Virtual Wall
Sensor

Power
and Clean
Button

Handle

Serial Port
Bin Release
Bin

iRobot Roomba Owners Manual

Battery
Charger
Socket

iRobot Roomba Anatomy

410 Model Series
Virtual Wall
Sensor

Power
and Clean
Button

Handle

TM

Serial Port
Battery
Charger
Socket

Bin Release
Bin

User Interface
Status Light
Focus
Power Button
Spot
Cleaning
Button

Cleaning
Button

Charging
Indicator

For more detailed information, visit: www.irobot.com

iRobot Roomba Anatomy

411- 419 Model Series
Virtual Wall
Sensor
Handle

Serial Port
Battery Charger
Socket

Bin Release

User Interface
Dirt Detect
Status Light
Power Button
Charging
Indicator
Spot
Cleaning
Button

Cleaning
Button

iRobot Roomba Owners Manual

Max
Cleaning
Button

iRobot Roomba Anatomy

420- 434 Model Series

Virtual Wall
Sensor
Handle

Serial Port
Bin Release

Battery Charger Socket

User Interface
Status
Light

Power
Button

Dirt
Detect

Spot
Button

Cleaning
Button

Max
Cleaning
Button

For more detailed information, visit: www.irobot.com

iRobot Roomba Anatomy

435- 440 Model Series
CLEAN/
Power
Button

Bin Release
Button
Bin

Virtual Wall Sensor

SPOT Button

Serial Port
Battery Charger
Socket

User Interface
CLEAN/
Power
Button

10

iRobot Roomba Owners Manual

SPOT Button

Cleaning Pattern
Roomba is a robot that cleans floors differently than the way most people
clean their floors. Roomba uses its robot intelligence to efficiently clean
the whole floor, under and around furniture, and along walls.
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
crisscrosses the room to
ensure full cleaning coverage.

Cleaning Modes
Roomba will clean based on the cleaning mode you select. Roomba has
two cleaning modes:
Clean Mode
Roomba automatically calculates the room size and adjusts its cleaning
time appropriately.
Spot Mode
Roomba will spiral approximately three feet in diameter and then spiral
back to where it started, intensely cleaning a localized area.
TIP: R
 oomba takes approximately 25 minutes to clean an average room and
will pass over the same area of the floor multiple times to ensure total
floor coverage.
TIP: F
 or most efficient cleaning, clear your floor of clutter and use a Virtual
Wall to confine Roomba to one room.

For more detailed information, visit: www.irobot.com

11

Cleaning System
Roomba features a patented three-stage cleaning system.

Filter

1 Side brush

sweeps along
edge of walls and
into corners.

2 Two counter-

rotating brushes
scoop up dirt,
hair, and debris
into the bin.

3 Powerful vacuum picks up the

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 adjusts
automatically to different floor types.
Roomba automatically senses stairs and other cliffs. Roomba is not
recommended for shag carpet or rugs with tassels.

12

iRobot Roomba Owners Manual

Battery Storage and Charging

Roomba is powered by a rechargeable battery.
Roombas battery can last for hundreds of
cleaning cycles if cared for properly.

Battery Life
To extend the battery life, iRobot recommends always storing Roomba
plugged in. For more details on how to maintain Roombas battery life,
visit www.irobot.com/support.
TIP: R
 echarge Roomba as soon as possible. Waiting several days to recharge
Roomba can damage the battery.
TIP: F
 or storage off the charger, remove the battery from Roomba and store in
a cool, dry place.

Cleaning Time
You should fully charge Roombas battery before each cleaning cycle.
When fully charged, Roombas battery will last for at least one full clean
cycle.

16-Hour Refresh Charge

If Roomba has been left off the charger for an extended period, Roomba
will initiate a special 16-hour charge cycle. This extensive charge
refreshes Roombas battery and extends the battery life. While charging,
Roombas Clean button will pulse quickly. Note: For best results, do not
interrupt this Refresh Charge.
TIP: F
 or best performance, charge Roombas battery overnight before using
Roomba for the first time.

For more detailed information, visit: www.irobot.com

13

Charging Roomba
Charge Roomba by plugging the charger directly into Roombas battery
charger socket.

Or

Charging Lights
Roomba uses the CLEAN button light to indicate that it is charging.
Use the chart to determine that status of the battery.
CLEAN/Power
Indicator Light

Battery Status

Solid red

Battery empty

Amber pulse

Charging

Solid green

Fully charged

Quick amber pulse

16-hour refresh charge

14

iRobot Roomba Owners Manual

Virtual Wall

(optional accessory for select models)

Virtual Walls create an invisible barrier
that Roomba will not cross. This invisible
barrier can be used to confine Roomba
to a particular room or area, and
prevent it from getting too close
to electrical or computer cords,
delicate objects on the floor, etc.
The Virtual Walls can be set to block
an opening up to seven feet long.
Note that the width of the Virtual Walls
beam also increases as its length increases,
creating a cone-shaped area which Roomba cannot pass. The Virtual Wall
also creates a halo of protection around itself, preventing Roomba from
getting too close.
TIP: F
 or best performance, place the Virtual Wall on the outside of the
doorway you wish to block.

Slim Virtual Wall (models 400-420)

The Virtual Wall requires 2 D batteries and
automatically shuts off after 135 minutes.
If the power light blinks green, the batteries
will soon need replacement. Use the slider
bar to adjust the length of the barrier.
A higher range will drain the battery faster.

TIP: P
 oint the iRobot logo towards the opening you would like to block.

TIP: S
 cheduling Virtual Walls (when programmed) will turn on a few minutes
before Roomba.

For more detailed information, visit: www.irobot.com

15

Virtual Wall
(continued)

Compact Manual Virtual Wall

(models 430 and up)
A Manual Virtual Wall must be turned on
by hand at the beginning of the cleaning
cycle to activate the barrier. A Manual
Virtual Wall and its power light will shut
off after 135 minutes. When battery levels
are low, the Virtual Wall power light will
blink slowly to indicate that it needs new batteries.
TIP: P
 oint the arrows on top of the Virtual Wall towards the opening you would
like to block.

Compact Auto Virtual Wall

(models 430 and up)
When an Auto Virtual Wall is set to Auto
mode, the power light blinks repeatedly
to indicate it is on. When battery levels
are low, the Virtual Wall blinks repeatedly
twice to indicate that it needs new batteries.
To save battery power, switch the Auto
Virtual Wall to Off. When in Auto mode, the
batteries should last approximately six months.
TIP: P
 oint the arrows on top of the Virtual Wall towards the opening you would
like to block.

Compact Virtual Wall Battery Installation

To open the battery compartment, simply apply pressure on both iRobot
logos located on either side of the Virtual Wall and pull the bottom out,
separating the pieces.
Two C Alkaline Batteries
Battery
Compartment

16

iRobot Roomba Owners Manual

(not included)

Home Base
(select models)
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 lights on the Home Base will be solid to indicate Roomba is
connected to the Home Base.

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.

CHAIR

TABLE

STAIRS

RUG

T
 he Roomba Remote, Virtual Wall and Home Base 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 dock
if you have a Virtual Wall near the Home Base. Fluorescent lights can also
impact Virtual Wall and Home base performance.

For more detailed information, visit: www.irobot.com

17

Remote Control
(optional accessory for select models)
The 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 commands.

Original Remote Control

Spot

Power
CLEAN

Directional
Buttons

Max
Pause

SPOT

Roomba focuses on intensely cleaning a local area.

CLEAN

Roomba calculates the room size and adjusts its cleaning time
appropriately.

MAX

Roomba runs until battery is depleted.

PAUSE

Pause Roomba in the middle of a cleaning cycle. Press pause again

to continue.

Remote Control
Directional
Buttons

SPOT
Button

. . . Button

CLEAN/Power
Button

SPOT

Roomba focuses on intensely cleaning a local area.

CLEAN

Roomba calculates the room size and adjusts its cleaning time
appropriately.

...

Models 435 - 499

18

Roomba enters Spot mode.

iRobot Roomba Owners Manual

Scheduler Remote Control

(optional accessory for select models)
Power
Directional
Buttons

Scheduling
Virtual
Wall

Spot
Max

CLEAN
Front
Cover

The Scheduler Remote Control is included with the Roomba Scheduler.

Other Roomba models are compatible with the iRobot Scheduler Remote
Control Upgrade.
Use the Scheduler Remote Control to program your cleaning times. Then
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

1 Open the Scheduler Remote Controls front cover.
The display will turn red and read SET TIME.
2 Press New/Save and Delete simultaneously.
The display will change to read SUN 12:00.
3 Press

to change the day.

4 Press

to navigate to the hour on the display.

5 Press to change the hour. To select AM or PM,

simply scroll past 12:00.
6 Press

to navigate to the minute on the display.

7 Press to change the minute. Hold

scroll quickly.

to

8 Press New/Save to save. After the time has been

set, it will flash three times to indicate the time
has been saved. Close the Scheduler Remotes
cover to verify that the correct time has been set.
For more detailed information, visit: www.irobot.com

19

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.
3 Press

to select the day of the week.

4 Press

to navigate to the hour field.

5 Press to schedule the hour. To select AM

or PM, simply scroll past 12:00.
6 Press

to navigate to the minute field.

7 Press

to schedule the minute.

Press

to navigate to the Once/Weekly field.

9 Press to choose Once or Weekly. Choose

Weekly if you want Roomba to clean on the same
day and time every week.
10 Press New/Save once to save the schedule.
The LCD will flash three times to indicate that the
schedule has been set.

 ont forget to send the schedule to both Roomba and the scheduling
D
Virtual Walls.

20

iRobot Roomba Owners Manual

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.
2 Open the Scheduler Remote Controls front
cover, 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.
3 Make sure Roomba is on the Home Base or in
the 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 8 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.

For more detailed information, visit: www.irobot.com

21

Sending Schedules
To send a schedule to the scheduling Virtual Walls:
1 Press and hold the power button on each
scheduling Virtual Wall until the Scheduled
light turns on.
Scheduled
light

2 Point the Scheduler remote at each scheduling

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.
3 The Virtual Walls Scheduled light will blink to confirm that it is
scheduled to automatically turn on at the time you programmed.

TIP: Y
 ou 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.

22

iRobot Roomba Owners Manual

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

and

buttons and

5 Press New/Save to save the new time.

6 Send the updated schedule to Roomba and
the scheduling Virtual Walls.

Deleting Schedules
1 Open the Scheduler Remotes cover. The display
should read SHOW
. If it reads Set Time,
see p. 15.
2 Scroll through the schedules using
wish to delete is displayed.

or

until the schedule you

3 Press Delete to clear the schedule.

4 Send the deleted schedule to Roomba and
the scheduling Virtual Walls. See pp. 17 18
for details.

Tip: Y
 ou can clear the schedule from the scheduling Virtual Walls and from
Roomba by removing and replacing the batteries.

For more detailed information, visit: www.irobot.com

23

Maintenance
To keep Roomba running at peak performance, it is recommended that
you perform the following maintenance regularly:

1 Remove and empty Roombas bin

Press button
and pull to
remove bin

2 Clean Roombas filter compartment

A. Clean or
replace filter*

B. Clean filter
compartment

Empty bin

*Replace filter every 2 months

Tip: B
 in emptying and brush cleaning should be done after every cleaning cycle.
Also be sure to regularly check the front caster wheel for hair build up.
Tip: If you notice Roomba picking up less debris from your floor, empty the
bin and clean the brushes.

24

iRobot Roomba Owners Manual

3 Clean Roombas brushes

A. R
 emove brush guard by
lifting both yellow tabs.

B. Remove and clean Roombas

brushes.
Brush
Bearings

Brush Caps

Tip: W
 hen replacing brush caps, make sure the alignment feature is properly
rotated so it snaps into place.

C. Remove and clean hair and

dirt from Roombas yellow
brush bearings.

D. Remove and clean Roombas

brush caps.

Alignment Feature

E. Use the included cleaning

tool to easily remove hair
from Roombas brushes.

Visit www.irobot.com/support for information on keeping Roomba running

at peak performance.
 xcessive build up of hair in Roombas brushes and bearings can
E
permanently damage Roomba. Inspect brush bearings regularly.
 o not attempt to run Roomba without the bearings. If you
D
misplace Roombas brush bearings, contact iRobot Customer Care
for replacement bearings.
For more detailed information, visit: www.irobot.com

25

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

Pick up Roomba, 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.
Turn over Roomba. Look to see if something is wrapped
around the side brush. Remove the side brush with a screw
driver and check for string or hair that may be wrapped
around it.
Remove and empty Roombas bin.
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.
Turn over Roomba and clear any debris that might be
caught underneath the front bumper in the cliff sensors. You
can also use compressed air to clean them out.
Turn over Roomba and remove any obstructions that
prevent the wheels from seating all the way up into
Roombas body. Also, remove any obstacles that Roomba
could drive over.
Please contact iRobot Customer Support.
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.

The side brush cannot

turn

3
4

The vacuum cannot run

A wheel cannot run

The cliff sensors have

failed or are blocked

Wheel obstruction or
robot attempting to
drive over an obstacle

9
10

Sensor error
Roomba is stuck

Miscellaneous Troubleshooting
Problem
Roombas CLEAN/
Power light will not
illuminate
Roomba is not
picking up debris
Roomba does not
charge

Likely cause
What to do
Battery not seated Remove Roombas battery by pushing the side clips and
correctly
re-insert the battery making sure you hear an audible
click.
Bin is full
Empty the bin and clean Roombas brushes.

Roomba backs up
frequently and
behaves erratically

Dirty cliff sensors

26

Charger is not
plugged in

Ensure that the charger is correctly connected to the wall

and to Roomba. Roombas charger will illuminate a solid
green light when plugged into a power source.
Use compressed air to clean out Roombas cliff sensors.

iRobot Roomba Owners Manual

Important Safety Instructions

 AUTION: DO NOT EXPOSE THE ELECTRONICS OF ROOMBA, ITS
C
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 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 a toy. Do not sit or stand on this device. Small children and pets should be
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 400 Series is not recommended for shag, high pile carpet or tassels.
This appliance is not intended for use by persons (including children) with reduced
physical, sensory or mental capabilities, or lack of experience and knowledge, unless they
have been given supervision or instruction concerning use of the appliance by a person
responsible for their safety.
Children should be supervised to ensure they do not play with the appliance.

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.

For more detailed information, visit: www.irobot.com

27

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

iRobot Customer Care

International
To contact an international partner near you for sales and technical
support, visit www.irobot.com/international.

Get iRobot accessories at store.irobot.com

International customers visit www.irobot.com/international
2010 iRobot Corporation, 8 Crosby Drive, Bedford, MA 01730. All rights reserved.
iRobot, Roomba, Virtual Wall and Home Base are registered trademarks of iRobot Corporation. [00179.0210]
U.S. Pat. Nos. 6,594,844 | 6,690,134 | 6,809,490 | 6,883,201 | 6,956,348 | 7,155,308 | 7,173,391 |
7,196,487 | 7,288,912 | 7,332,890 | 7,388,343 | 7,389,156 | 7,429,843 | 7,430,455 | 7,441,298 | 7,448,113.
Additional Patents Pending.