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I have been suffered with error2 from my roomba S9 for over a year, and today, the problem solved - I changed the entire cage of the main brushes! (Of course I deep cleaned everything, sparyed WD40, as well) The connection between the drive train and the main brush motor in the cage was bad, which made the robot thinks the main brushes falling behind. The connection of the new cage seems improved - The photo I attached is the older cage, and the marked part is the one improved in the newer cage - They are covered with the black rubber. Hope this helps somebody!