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The fine filter bag can trap particles as small as two microns across and can be clogged by particles too small to see. If rinsing the filter bag by hand with a hose does not solve the problem, try machine washing it in cold water. Do not machine dry.
Also please clean the impeller. See page 18 of your manual, if you don't have the manual you can download it from here ===> http://www.irobot.com/~/media/Files/Support/Home/Verro/iRobot-Verro-500-Manual.pdf?sc_lang=en
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If this does not fix the issue please check and follow all steps on page 20.
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