It took getting a 2nd replacement to have an S9 that works the way it should. I got this second replacement and put it in an area in the back of the house where it would do one room and redock. Called support, she told me to move it to a more central location, which I did and that helped. It took two training runs to map my 4 bedroom 3 bath house. All rooms are.labled and I now have clean zones and no-go zones. The self emptying bin is awesome. And I also have the Braava 6 mop which is absolutely perfect. It leaves some wheel Mark's but I simply use a damp mop to get rid of them. Despite some frustrations, I'm happy. Support, by the way, while there are some poor connections, is friendly and will even call you back to check and see if their suggested fix worked.