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Unplug the vacuum and locate the button above the canister. The button will likely have an arrow on it, pointing upward. Push the button.
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Pull the canister handle away from the machine. Lift the canister free from the base.
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Locate the red thumb button at the top of the canister. Push this down in order to empty the canister of its contents. Be sure that there is a bag directly beneath the canister. The dirt and debris exit the canister at its base.
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Open the lid of the canister to access to the pre-motor filter. There is a latch at the base of the handle, which needs to be flipped up. If accessing the post-motor filter, you'll find the lid directly beneath the base of where the canister was seated.
Check out this related video from Homesteady on Youtube.