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In this video I show how to repair a Roborock S7 robot vacuum cleaner with Error 4 Clean the height sensors, move the main unit away from any differences in height and then restart:
Link for cliff sensors:
Aliexpress: s.click.aliexp...
Amazon: amzn.to/3UQEizR
Screwdriver set: amzn.to/4bJEVSG