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19 iRobot Mirra 500 Series Owner’s Manual
Maintenance and Adjustment (Continued)
Float Block Adjustment:
• Mirra comes with 2 float blocks already installed into the float block
holder (#1 & #2 seen in the picture). Mirra also comes with 2 additional
float blocks for manual adjustment (#3 & #4 seen in the picture).
• When the ideal number of float blocks are installed, Mirra should
perform a “Float and turn” maneuver and make approximately a 90°
turn. The 90° is soft and will occur in the shape of an arch but when
Mirra has finished its turning maneuver it should be traveling in a
perpendicular direction.
• If Mirra completes its turning maneuver and has turned less than 90°
then the robot is too heavy and not buoyant enough (Picture A1). This
is wrong. Add one float block and test the robot again (picture A2).
Continue to add float blocks (picture A3) until Mirra performs a soft
arching 90° turn (picture A4).
• If Mirra completes its turning maneuver and has turned more than 90°
then the robot is too light and too buoyant (picture B1). This is wrong.
Remove one float block and test the robot again (picture B2). Continue
to remove float blocks (picture B3) until Mirra performs a soft arching
90° turn (picture B4).
A1
A2
A3
A4
B2
B3
B1
B4
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