I have the complete service manual for the 550 series. It is in PDF format and if you would like the complete manual, give me your email address and I will send it to you.
Below is the basic cause and repair for your irobot's condition.
Circling at slow, normal or rapid speed:
Most common causes:
Dirt has infiltrated the wheel encoder or a drive belt has failed.
In MOST cases, the robot's software will recognize and correct the
behavior within minutes. If the battery was recently reset, the robot may
act erratic again at startup until the software has a chance to correct the
condition.
• If the Robot does not resume normal driving behavior within the first
couple minutes of runtime, go to DRIVE WHEEL Module inspection and
cleaning (Appendix C). If cleaning wheel modules does not correct the
problem, both wheel modules may need to be replaced.
• Replace drive wheel modules if fixes fail.
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