I replaced brushes and cleaned everything on my Roomba 671 and it appears that the brushes are not turning when it operates, just pushing dog hair around the house and not picking it up.
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See this guide: https://www.schneordesign.com/diy/diy-ir...
Due to if there’s a lot of debris inside the gears that brushes can’t turn, Rooma stops by Error 2, in your case the brush system may be disengaged, probably the smallest and weakest gear, the motor’s one, has worn teeth or enlarged bore and slips.
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