I am new to robot vacuums in general and I got a s6 on sale from Walmart for $380. I am pretty tech savvy but about every 20-30 minutes of cleaning I get a main brush clean error and I clean it but there is very few hairs stuck in it. I did the trick to see if the brush is spinning on carpet and even on the lowest setting it spun on my thickest carpet. Most of the time I just pick it up and put it down and that will clear the error and it will be fine for the next 20-30min. It this normal.