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This guide will help you access the filter to be able to replace it for the iRobot Roombas.
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Rotate the Roomba so that the "R" on top is facing toward you
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Press the button at the bottom of the Roomba
 
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Press down on the button and lightly pull until the dustbin is fully removed from the Roomba.
 
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Pull on the yellow tab to open the filter latch.
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The dustbin can now be emptied or cleaned.
 
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Flip over the dustbin so that the clear side is facing upward.
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Now the green tabs to remove the filter are visible.
 
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Pinch and pull up on the green tabs with index finger and thumb.
 
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This guide will help you replace filter from dustbin.
This guide will help you replace filter from dustbin.