inside the iRobot Roomba 690

[vic7767]

This is iRobots first offering of the R3 Roomba with the WiFi addition that uses the same iOS / Android App that was first introduced with the 900 VSLAM models.

Similar in design as the other 6XX models but with the addition of the WiFi option several internal circuit board changes were made. One of the most obvious was the relocation of the 7-pin mini din from the lower right quadrant to the upper left quadrant.

New 7 pin mini din location

Also of note is that this WiFi 690 comes with a Lithium pack with an 1800 mAH capacity.

WiFi Roomba 690

Here's a view inside the 690 with just the top cover removed.

View of the 690 main PCA

A quick monitor of the SCI port and a press of the Clean button generates this familiar blurb:

battery-current-zero 248
key-wakeup
slept for 0 minutes 1 seconds

2017-05-22-1109-L
r3-robot/trunk:6464 CLEAN

bootloader id: 3142 841C 7092 7860
assembly: marconi
revision: 8
flash version: 11
flash info crc passed: 1

And placing the 690 on the charging base gives us this:

bat: min 27 sec 55 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 27 sec 56 mV 16280 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 27 sec 57 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 27 sec 58 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 27 sec 59 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 0 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 1 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 2 mV 16280 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 3 mV 16280 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 4 mV 16280 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 5 mV 16280 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 6 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 7 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 8 mV 16280 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 9 mV 16280 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 10 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5
bat: min 28 sec 11 mV 16252 mA -8 rx-byte 90 mAH 2067 state 18 mode 5

[vic7767]

Additional WiFi 690 info:

Photo of complete Main Circuit Board

Closer views of the PCA:

Closer detail of the PCA

Closer view

Final view

Ran a single BiTs run on the 690. This is prior to any actual cleaning run. There appears to be a voltage sensor fault that may not be valid. Will run another BiTs when possible.

SUMMARY: START
SUMMARY: DATE-TAG 2017-05-22-1109-L
SUMMARY: BOOTLOADER-ID 3142 841C 7092 7860
SUMMARY: BOARD-ASSEMBLY marconi
SUMMARY: BOARD-REVISION 8
SUMMARY: FACTORY-TEST INCOMPLETE
SUMMARY: flash version: 11
SUMMARY: flash info crc passed: 1
SUMMARY: LANGUAGE(S): english (0)
SUMMARY: cliff calibration: L 50 FL 60 FR 50 R 40
SUMMARY: (user-button-day?) disabled
SUMMARY: (user-button-hour?) disabled
SUMMARY: (user-button-minute?) disabled
SUMMARY: (user-button-schedule?) disabled
SUMMARY: (user-button-clock?) disabled
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: (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: (wheel-drop-left?) PASS
SUMMARY: (wheel-drop-right?) PASS
SUMMARY: (rcon?) PASS
SUMMARY: (valid-code-in-channel? dir-left) FAIL
SUMMARY: (valid-code-in-channel? dir-right) PASS
SUMMARY: (battery-voltage-ok?) PASS
SUMMARY: (battery-temperature-ok?) PASS
SUMMARY: (baseline-current-ok?) FAIL mA -193 min -175 max -90 mV 16000 degrees-C 28
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 -870 min -200 max -50 mV 15832 degrees-C 16
SUMMARY: (left-drive-stall-current-ok?) PASS mA -923 min -1200 max -400 mV 15916 degrees-C 10
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 -129 min -200 max -50 mV 16000 degrees-C 24
SUMMARY: (right-drive-stall-current-ok?) untested
SUMMARY: (drive-speed-ok? left reverse) PASS
SUMMARY: (drive-speed-ok? right reverse) PASS
SUMMARY: (aeroforce-vacuum-current-ok?) disabled
SUMMARY: (main-brush-motor-stall?) PASS
SUMMARY: (main-brush-current-ok?) PASS mA -484 min -780 max -120 mV 15916 degrees-C 11
SUMMARY: (main-brush-stall-current-ok?) untested
SUMMARY: (debris-right?) FAIL
SUMMARY: (vacuum-current-ok?) PASS mA -156 min -300 max -145 mV 15944 degrees-C 14
SUMMARY: (side-brush-motor-stall?) PASS
SUMMARY: (side-brush-current-ok?) PASS mA -102 min -180 max -30 mV 15972 degrees-C 24
SUMMARY: (side-brush-stall-current-ok?) untested
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-low) disabled
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-low) disabled
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-low) disabled
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-low) disabled
SUMMARY: (optical-bin-sensor-level-ok? left near emitter-high) disabled
SUMMARY: (optical-bin-sensor-level-ok? left far emitter-high) disabled
SUMMARY: (optical-bin-sensor-level-ok? right near emitter-high) disabled
SUMMARY: (optical-bin-sensor-level-ok? right far emitter-high) disabled
SUMMARY: (logand 1 (wifi-module-passed-test?)) PASS
SUMMARY: (logand 2 (wifi-antenna-passed-test?)) PASS
SUMMARY: (int-charging-trickle-current-ok?) disabled
SUMMARY: (int-charging-current-ok?) disabled
SUMMARY: (and (ext-charger-available?) (not (robot-has-internal-charging?))) PASS
SUMMARY: (charging-watchdog-current-ok?) PASS mA -8 min -31 max 31 mV 16112 degrees-C 14
SUMMARY: (ext-charging-recovery-current-ok?) PASS mA 303 min 250 max 350 mV 16252 degrees-C 17
SUMMARY: (ext-charging-current-ok?) PASS mA 1189 min 950 max 1450 mV 16615 degrees-C 9
SUMMARY: (ext-charging-trickle-current-ok?) PASS mA 52 min 40 max 80 mV 16168 degrees-C 22
SUMMARY: (bootloader-ok?) PASS
SUMMARY: (not (check-board-revision invalid)) PASS
SUMMARY: (not (check-board-assembly invalid)) PASS
SUMMARY: (bbox-test-write-succeeded?) PASS
SUMMARY: (rf-system-functioning?) disabled
SUMMARY: fs-header-crc-passed? PASS
SUMMARY: (/= enabled-languages 0) PASS
SUMMARY: (calibration-data-stored?) PASS
SUMMARY: (factory-test-data-saved?) PASS
SUMMARY: END

[a1robotrepair]

Yet another board to learn. Whats a mother to do?
Test 11 baseline current...Fail would lead me on a board chase.
No map with this one?
Bin type?

[vic7767]

Test 11 baseline current...Fail would lead me on a board chase.

Will happen at a later date. Runs OK on actual cleaning runs. Battery capacity was corrected in firmware after first run from 2067 to 1900 mAH although the Lithium pack is labeled 1800 mAH.

No map with this one?

This is WiFi only no imaging ability so no map generation.

Bin type?

Aerovac bin.

[vic7767]

Here are some iOS image captures of the iRobot APP pages:

iOS front page

APP 1

APP 2

APP 3

[vic7767]

Another mini update to this thread: The 690 dirt detect sensor flashes the Clean button when activated. There is no longer a dirt detect LED on the UI just for this event.

[TechGuy]

Yet another board to learn. Whats a mother to do?
Test 11 baseline current...Fail would lead me on a board chase.
No map with this one?
Bin type?

No kidding... I can repair the 500/600 H-bridge now.

I am still learning my way to fix
- H-bridge for 700/800,
- no +5REG and UI issues for all models.

Okay. It is just one more to learn...

[a1robotrepair]

Hopefully the new boards will be easier...H-Bridge chip, the 700/800 5Vreg is much easier to T/S&R. If Ed still has that R3+ open he will give us a look at the bottom of the PCA.

IMG_1558.JPG (28.19 KiB) Viewed 7119 times

BIT11 fail...Ed probably has a RF module wired to the SCI port.

[vic7767]

If Ed still has that R3+ open he will give us a look at the bottom of the PCA.

lol, it's back together for awhile. I will flip the board over at a later time.

BIT11 fail...Ed probably has a RF module wired to the SCI port.

Had not thought of that but I do have a WiFi module & DC to DC regulator dropping the battery voltage to 3.3 vdc. I'll run BiTs again without that contraption in the SCI and see what gives. UPDATEThe WiFi module running on the SCI port put the current sensor just above the high threshold. When a regular UART - USB cable was used then the current reading of test 11 PASSED. I had also removed the OEM Lithium pack for a Lithium Pwr Inc pack and now in test 11 getting a high temp FAIL. This should resolve itself after a charging cycle is completed.

[vic7767]

Here are some additional pics of the other side of the 690 PCA.

Underside 690 PCA

Closer PCA view

Closer view

[a1robotrepair]

No Stasis.

Red O...Fwd/Rev PWMs. Green O...Battery sensors

What is the markings on the chips in the red and green circles?
Thanks Vic!

[vic7767]

I'll get those SMD markings on the next teardown Dave.

[a1robotrepair]

I'll get those SMD markings on the next teardown Dave.

Any noticeable improvement over the 650?
Can u find the 5V Reg nest time also, maybe green circle or next to SCI?
Just leave it tore down

[vic7767]

690 seems to mimic the Dirt Dog when first starting out but then seems as agile as the 780 dealing with power cords, CAT5, 6 cables. 890 WiFi arriving next week will tear down both then and see what can be discovered.

[a1robotrepair]

Trying to find a bin for a 690.
Don’t have unit, it’s in another state.
They look like the 960?

Off topic, Hi,
Have been traveling, enjoying retirement.

[vic7767]

Hey, welcome to retirement land.

The 690 is just a 650 with WiFi.

[a1robotrepair]

Thanks Vic,
Better question, will a 500,600 aero vac bin fit?

[vic7767]

Strange situation, none of the 500 through 700 AeroVac bins will fit. Only a 690 bin will fit a 690. Looks like you've uncovered a small issue.

[a1robotrepair]

Aré the motor assemblies the same?

[vic7767]

Yes, the internal motor behind the air filter is the same as the 500 model Roomba AeroVac.