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If the burning smell is an electrical smell it could be motor or wiring problems which are best handled by a professional. If it smells like burning rubber it is probably the belt. If it smells like burnt wood it could be the belt slipping on the brush roll, if the brush roll is made of wood. Dust and debris can also accumulate behind the end caps of the brush roll causing friction which can cause a burning wood smell.
Anytime someone says they smell something burning on any type of vacuum cleaner of carpet cleaner etc. All I can think of is the belt is rubbing on plastic which would cause the sense of something burning because you possibly are smelling the belt........
take the belt off again you will see burnt rubber from the old belt stuck to the motor shaft.you can take a fine piece of emery cloth and clean the shaft down to its polished finish.always good to do this after each belt.check the brush roller and see if there are any signsd of plastic melted.make sure it turns freely if not the brush roller might be siezing uo on youhave you cleaned the hepa filter?does it smell like wires burning or rubber.with it unlugged take it apart to the motor and take a fine iece of emery cloth and go over the motor armature .then try it again.you can take all the filters out and run it without the filters.that will help you narrow it down.please leave feedback