From Sarah Aguirre,
Your Guide to Housekeeping.
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A. Bagged Vacuum Cleaner Maintenance

For specific information you should refer to your owner's manual. In general though bagged vacuum cleaners will require that you change the bag when it is full. You will need to periodically check and remove hair, string, etc., from the brushroll on the bottom. Clogged areas will need to be cleaned out of the vacuum cleaner unit when they occur. The vacuum cleaner may also have other filters that need to be periodically cleaned or replaced according to the owner's manual instructions.

Bagless Vacuum Cleaner Maintenance

Bagless vacuum cleaners require all of the same maintenance as their bagged counterparts, with the exception of changing the bag. On bagless models you will instead need to empty the dirt container when it reaches the fill line. Bagless vacuum cleaners will have filters that must either be cleaned or replaced according to the manufacturer's instructions.