Try replacing your old battery pack with a new lithium battery pack. A higher amp hour rating ands higher voltage will breathe in new life to your tired Roomba. Amazon offers quite a few choices so make sure you select a properly sized battery pack to fit your Roomba. And read the reviews concerning the various battery packs you are looking at. I did NOT buy a Roomba OEM battery and my machine now works faster, longer, and lasts much longer between charges.

This is an update to my earlier post. I had continual error code 2 of tangled brushes that stopped my 880 series every 10 minutes. But they are EXTREMELY clean. But I replaced them OEM brushes, an entirely new brush roller assembly from iRobot at their suggestion. I installed and thoroughly cleaned the machine. Started Roomba up…….same error code. So I bought a new battery pack, a Lithium Ion, non Roomba manufacturer, but had good ratings. SUCCESS!! The new battery solved the error code 2 tangled brushes and I probably wasted money on new rollers and roller brush assembly as well as wasting a significant amount of time doing extensive disassembly that required only a new battery pack. The lithium battery is much lighter which allows the Roomba to climb on board atop thicker rugs much easier and it runs for a at least 2 + hours before heading back to base for recharge, even though battery indicator is still green. I recommend make sure brushes are clean and the front wheel spinner is free to swivel. Then...

I was having very similar error reporting under the same conditions you have described. I went through a very thourough and deep cleaning process, full disassembly and a bit of dirt and dust, but nothing catastrophic enough to cause the roomba to continually shut down for reasons of error 2. I followed iRobot tech rep advice and bought new roller brush gear assembly. I put in the brand new unit assembly( very easy to do) and turned Roomba loose. Same error code and Roomba would shut down. So, I decided to replace the 4 year old battery. Popped in the new battery and fully charged up the new battery pack for about 7 hours. I let loose Roomba with new fresh fully charged battery pack and the error 2 of tangled brushes was no more. The unit ran for over 2 hours non stop and docked up to recharge. The old battery was the problem. Update (11/09/2022): I have an 800 series and I had the same problem for quite awhile. I took mine apart down to the gear classes in the motor drive, and could find nothing wrong. I...