I've looked for this question to be answered & to no avail. I love my Roomba BUT now when it is fully charged & fully cleaned it will start out & only work for about 4 min. before it beeps like it's in trouble. It's not hung up or anything. Would you have any answers? If it's going to clean the area set for as it once did, why isn't it now? I've only had it about 2 mo. Hope you can help.