Error 16
Xiaomi
Tilt Sensor or IMU (Inertial Measurement Unit) Error
Robot vacuum reports 'Error 16' / voice prompt 'Error 16: Device tilted' even when on a flat floor.
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Safety Warning
This repair may involve working with high voltage components or water connections. Always unplug the appliance before removing any panels.
If you are not confident in your ability to perform this repair safely, we strongly recommend contacting a professional technician.
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Possible Causes
Robot lifted or placed on uneven surface, Faulty tilt sensor or IMU, Loose IMU connector, Firmware calibration issue
How to Fix / Troubleshooting
Safety first: Keep the robot on a flat, stable surface while testing.
- 1. Place on level ground:
- Move the robot to a flat, hard floor.
- Ensure it is not on cables, thresholds, or rugs.
- 2. Reboot:
- Turn the robot off and on again while it is on the flat surface.
- 3. Avoid lifting during startup:
- Do not pick up or tilt the robot while it is booting or starting a cleaning cycle.
- 4. Advanced inspection:
- Open the robot and locate the IMU/tilt sensor board (often near the mainboard).
- Check that its connector is firmly seated.
- 5. Replacement:
- If the error persists, replace the IMU/tilt sensor board or the mainboard if the IMU is integrated.
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Repair Difficulty
Hard
4/5
Required Part
IMU / Tilt Sensor Board
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