Issue with X50

I have a problem with my robot vacuum. When I press start to begin cleaning, whether it’s mopping or vacuuming, it tries to start and makes the usual startup sound, but it seems like something is holding it back on the charging dock.

Also, if I remove it from the dock and place it somewhere in a room, then tell it to return to the dock, it does find the base and goes back. However, when it tries to dock properly, it fails to connect. It moves back and forth and tries two or three times, but without success.

I have reset everything, but the problem still continues.