So... I’ll try to keep this intelligible. I’ve been working on my 560 off and on for years. In the last 6 months it does...

Your gears in your brush box are jammed up. You can either replace the box or take it apart and clean out the gears. Our yellow lab's constant shedding did this to my 560 constantly. Here's a video from youtube showing how to take apart a roomba to get to the gears: https://www.youtube.com/watch?v=7QWhsu4c...