S7 Garage

I Have the R s7 maxv ultra. I would like to put put it in a kitchen cabinet. The location will be in the island in the kitchen and it will go in and out through a hole in the side of the cabinet. I have two questions. The units measures 13.8 inches in diameter and 3.8 inches tall. How much clearance do I need on the sides and top for the robot to drive through the opening? The second question relates to the mapping ability. Will the unit be able to find the opening in order to get to its dock?

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