Same error code of tangling after 10 minute run time.
The unit ran for over 2 hours non stop and docked up to recharge.
The alternative hypothesis, H a , is the state of nature that is supported by rejecting the null hypothesis.
Disassembled the unit completely and cleaned every rotating part.
Afterward, right-click on it and opt for Properties.
The gear train is inside a green housing on the left side facing Roomba front.
I took my roomba apart again, I ensured the motor was properly seated in its grooves, and the cable that goes in the wheel, was not loose but in its groove and seemingly tight.