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LEGO® MINDSTORMS®
User Guide
BUILD AND PROGRAM ROBOTS THAT DO WHAT YOU WANT!
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WELCOME TO THE WORLD OF
LEGO
®
MINDSTORMS®
Congratulations on your new LEGO® MINDSTORMS® NXT robotics tool set. You
now have the power to build and program robots that do what you want!
Dream it, build it
Your MINDSTORMS NXT set enables you to create thousands
of robotic inventions. Intelligent robots that see, hear,
speak, feel and move. Advanced robots that you can control
with your mobile phone. Cool robots that guard your room
and do your chores. If you can dream it, you can build it.
Build. Program. Go!
Creating a MINDSTORMS robot is easy. Build the robot using
your LEGO elements. Program it using the easy-to-use software and watch your robot come alive. For your fi rst robotic
adventure, try out the quick-build model that you can build
and program in less than 30 minutes.
Smart technologies
Your MINDSTORMS NXT set features the latest in robotic technology: an
advanced 32-bit programmable microcontroller; icon-based drag and drop
programming software and interactive challenges; smart sensors and Interactive Servo Motors; wireless Bluetooth and USB connection. In fact all the
smart technologies you need to create your dream robot.
MINDSTORMS.com
You are now a part of the worldwide LEGO MINDSTORMS community. Log on
to MINDSTORMS.com and get more robotic challenges. Download programs,
sound effects and other cool stuff. Share your inventions and exchange tips
and tricks with other MINDSTORMS users. www.MINDSTORMS.com is your new
robotic hot spot.
Find out more
In this User Guide you can learn more about the technology
and the many exciting features in your MINDSTORMS set.
Have fun building your own amazing robots!
The LEGO MINDSTORMS team.
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INTRODUCTION
Build. Program. Go! ................................................ 4
NXT TECHNOLOGY
NXT technology overview ....................................... 6
Connecting the NXT technology .............................. 8
About the NXT ......................................................... 10
Installing batteries in your NXT .............................. 12
NXT main menu ....................................................... 13
NXT icons ................................................................ 20
Touch Sensor .......................................................... 22
Sound Sensor ......................................................... 23
Light Sensor ........................................................... 24
Ultrasonic Sensor ................................................... 25
Interactive Servo Motors ........................................ 26
Using Bluetooth ..................................................... 28
SOFTWARE
System requirements ............................................. 38
Installing the software ........................................... 38
Your fi rst program ................................................. 40
Software user interface ......................................... 42
The Robo Center ..................................................... 44
The programming palette ....................................... 45
The confi guration panel ......................................... 47
The Controller ........................................................ 47
LEGO BRICKS
Element overview ................................................... 48
Building instructions .............................................. 49
Test pad ................................................................. 72
USEFUL INFORMATION
Troubleshooting ..................................................... 74
CONTENTS
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Build
Build a robot. You can fi nd building
instructions in this User Guide, in the
software or at www.MINDSTORMS.com.
Or you can use your imagination to
build your own unique robot.
BUILD. PROGRAM. GO!
Program
Program your robot to do what you
want. Use the LEGO
®
MINDSTORMS® NXT
Software to make a program. Download
the program to the NXT by using the
USB cable or the wireless Bluetooth
connection.
INTRODUCTION
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Go!
Run the program and watch your robot
come to life.
INTRODUCTION
Quick Start
Use the Quick Start kit to get your fi rst
MINDSTORMS experience. In the Quick
Start kit you will fi nd everything you
need to get off to a great start. It will
only take you a few minutes to create
your fi rst MINDSTORMS robot, test it,
and get a fun reaction.
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The NXT
The NXT is an intelligent, computer-controlled
LEGO
®
brick and the brain of the MINDSTORMS® robot.
NXT TECHNOLOGY OVERVIEW
Sound Sensor
Enables the robot to hear and react to
sound.
Touch Sensor
Enables the robot to feel and react to
its environment.
Light Sensor
Enables the robot to detect light and
color.
NXT TECHNOLOGY
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Ultrasonic Sensor
Enables the robot to see, measure
distance to an object, and react to
movement.
Interactive Servo Motors
Ensure that the robot moves with precision.
NXT TECHNOLOGY
Standard port settings for sensors
and motors
To make your robot work correctly, the sensors and
motors should be connected to specifi c input and output ports. Here are the standard port settings:
Input ports
Port 1: Touch Sensor
Port 2: Sound Sensor
Port 3: Light Sensor
Port 4: Ultrasonic Sensor
Output ports
Port A: Motor used for an extra function
Port B: Motor for movement
Port C: Motor for movement
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CB A
1234
CONNECTING THE NXT TECHNOLOGY
Connecting motors
To connect a motor to the NXT, use one of the black 6-wire
cables. Attach one end of the cable to the motor and the other to
one of the NXT’s output ports (A, B, or C).
Connecting sensors
To connect a sensor to the NXT, use one of the black 6-wire
cables. Attach one end of the cable to the sensor and the other
to one of the NXT’s input ports (1, 2, 3, or 4).
Downloading and uploading
The USB port and wireless Bluetooth connection let you download and
upload data between your computer and the NXT. If your computer has
Bluetooth capability, you can download programs to the NXT without using
the USB cable. If your computer does not have Bluetooth capability, you
must use the USB cable or install a Bluetooth USB dongle on your computer.
NOTE: Read more about wireless Bluetooth communication on page 28.
NXT TECHNOLOGY
Note that ALL of the black 6-wire
cables can be used in both input
and output ports, sensors and
motors. To work, sensors MUST be
attached to the input ports (1-4)
and motors MUST be attached to
the output ports (A-C).
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Connecting the NXT to a PC with a USB cable
Turn on the NXT.
Connect the PC and the NXT with the USB cable.
When the PC identifi es the NXT it will automatically fi nalize the
installation of the LEGO MINDSTORMS NXT Software.
Connecting the NXT to a Macintosh with a USB cable
Make sure that the LEGO MINDSTORMS NXT Software is installed before connecting your NXT to
your Macintosh (see page 39).
Turn on your NXT.
Connect the USB cable to the NXT.
Connect the USB cable to the Macintosh and you’re ready to go.
NXT TECHNOLOGY
Make sure that the
LEGO® MINDSTORMS® NXT
Software is installed before
connecting your NXT to your PC
(see page 38).
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ABOUT THE NXT
The NXT is the brain of a MINDSTORMS® robot. It’s an intelligent,
computer-controlled LEGO
®
brick that lets a MINDSTORMS robot come
alive and perform different operations.
Please note that all text on the NXT display is in English.
Sensor ports
The NXT has four input ports for attaching sensors. The sensors need to be attached to port 1,
2, 3 or 4.
USB port
Connect a USB cable to the USB port and download programs from your computer to the NXT (or
upload data from the robot to your computer).
You can also use the wireless Bluetooth connection for uploading and downloading.
NXT TECHNOLOGY
USB icon
When you connect your NXT to a computer with
a USB cable, a USB icon will be displayed. If you
disconnect the USB cable, the icon will disappear.
Bluetooth icon
The Bluetooth icon shows the current status of
any wireless Bluetooth connections. If there is no
Bluetooth icon shown, Bluetooth is OFF.
Bluetooth is ON but your NXT is not visible to
other Bluetooth devices.
Bluetooth is ON and your NXT is visible to other
Bluetooth devices.
Bluetooth is ON and your NXT is connected to a
Bluetooth device.
USB connected and working fi ne.
USB connected but not working properly.
Motors ports
The NXT has three output ports for attaching
motors. To make the motor work, the motors
need to be attached to port A, B or C
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Technical specifi cations
• 32-bit ARM7 microcontroller
• 256 Kbytes FLASH, 64 Kbytes RAM
• 8-bit AVR microcontroller
• 4 Kbytes FLASH, 512 Byte RAM
• Bluetooth wireless communication (Bluetooth Class II
V2.0 compliant)
• USB full speed port (12 Mbit/s)
• 4 input ports, 6-wire cable digital platform (One port
includes a IEC 61158 Type 4/EN 50 170 compliant
expansion port for future use)
• 3 output ports, 6-wire cable digital platform
• 100 x 64 pixel LCD graphical display
• Loudspeaker - 8 kHz sound quality. Sound channel with
8-bit resolution and 2-16 KHz sample rate.
• Power source: 6 AA batteries
NXT TECHNOLOGY
Loudspeaker
Make a program with real sounds and listen to
them when you run the program.
Battery level
The battery icon displays the power level of the
NXT. When battery power is low, the battery icon
will fl ash on and off.
Running icon
When your NXT is turned on, the running icon will
spin. If the running icon stops spinning, your NXT
has frozen and you will need to reset it (see page
74, Troubleshooting.)
Naming the NXT
You can change the name of your NXT by going to
the NXT window in the software. This window is
accessible from the Controller. NXT names can be
at most eight characters long.
NXT buttons
Orange button: On/Enter
Light grey arrows: Used for moving left and right
in the NXT menu.
Dark grey button: Clear/Go back
Turning off your NXT
Push the dark grey button repeatedly until you
see the screen on the right.
Push the orange button to turn off your NXT;
push the dark grey button to go back to the main
menu.
NXT display options
Your NXT has many other cool features. Read
more about them on the following pages.
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INSTALLING BATTERIES IN YOUR NXT
Battery type
• The NXT requires 6 AA/LR6 batteries to function properly.
• Alkaline batteries are recommended.
• Rechargeable batteries can be used, but the NXT’s power
may be reduced, making the motors turn more slowly.
Low battery power
When battery power is low, this icon will pop up on the
NXT’s display screen.
Important!
• Never mix different types of batteries in the NXT.
• Always remove batteries prior to long-term storage.
• Promptly remove depleted batteries from the NXT.
• Only recharge batteries under adult supervision.
• Never attempt to recharge non-rechargeable batteries.
NXT TECHNOLOGY
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NXT TECHNOLOGY
NXT MAIN MENU
The My Files submenu will let you see all of the programs you
have made on the NXT or downloaded from your computer.
Software fi les - programs you
have downloaded from your
computer
NXT fi les - programs you have
made on the NXT
Sound fi les
Files will automatically be placed in the appropriate subfolders. When you
download a program including a sound fi le to your NXT, the program will be
placed under Software fi les, while the sound data will be placed under Sound
fi les. You can send fi les to other NXTs. Read more about this on page 36.
My Files
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Select Forward. Use the arrow buttons
to move through the choices and then
press the orange button (Enter) to
make your selection.
NXT Program
You don’t need a computer to program your robot. Using
the NXT Program submenu, you can make thousands of
different programs without your computer.
Try this simple program and see how easy it is:
Make the robot go back and forth when its Touch Sensor is pressed.
First, the robot will move forward until the Touch Sensor is pressed,
and then it will move backwards. When its Touch Sensor is pressed
again, the robot will move forward once again. This will continue
indefi nitely until you stop the program.
Make sure that your sensors and motors are connected to the right
ports.
NXT TECHNOLOGY
Select Touch. Select Backward.
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1.
2.
3.
4.
4 5 6
Try these programs as well:
NXT TECHNOLOGY
Select Touch again. Now select if you want the program to
Loop. This means that the program will
run again and again until you switch
off the NXT. For our little test, select
Loop.
Now you can run your program.
Simply select Run!
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The Try Me submenu lets you test your sensors and motors
in a fun way:
Explore other Try Me programs to get some more fun sounds, to
display images and to experience different motor reactions.
You can always delete these Try Me fi les again using the
Settings submenu.
NXT TECHNOLOGY
Connect the sensors and motors to the appropriate ports on
the NXT. Important: Use the standard settings for the ports as
explained on page 7.
Select a program.
When you press the orange (Enter) button, you will get some
fun reactions from the sensors and motors.
Try Me
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View
Connect the sensor or motor you would like to test to
the NXT - the View submenu will help you select the
right port or check standard settings on page 7.
Select View on the NXT’s display.
The View submenu lets you carry out a quick test of your
sensors and motors, observing real-time data from each
unit:
Select the icon of the sensor or motor
you would like to test. You can only get
readings from one sensor or motor at
a time.
Select the port that the sensor or motor is attached to.
The data from the sensor or motor will
appear on the display.
NXT TECHNOLOGY
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Settings
Sleep mode: You can set the NXT to turn
itself off after 2, 5, 10, 30 or 60 minutes of
inactivity (time when its not in use). You can also
select the Never setting so that it remains on
indefi nitely (until you turn it off). Please be aware
that the Never setting will drain your batteries more
quickly.
NXT TECHNOLOGY
The Settings submenu lets you adjust the NXT’s settings
including its speaker volume or the Sleep mode setting.
This submenu will also let you delete programs that have
been stored in the NXT’s memory.
Change volume:
Here you can adjust the volume
of the NXT’s speakers.
Delete all programs:
You are able to delete all downloaded programs in the 3 sub folders: Software fi les,
NXT fi les, Sound fi les, from the Settings
submenu.
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Bluetooth
NXT TECHNOLOGY
The Bluetooth submenu will let you make a wireless
connection between your NXT and other Bluetooth devices
(like other NXTs, mobile phones, and computers). You can use
a wireless Bluetooth connection to send programs to other
NXTs, to download programs from your own computer
without using a USB cable, and lots of other cool things,
such as using your mobile phone to control your robot! Read
more about wireless Bluetooth communications on pages 28.
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NXT TECHNOLOGY
General Icons:
My Files
Software fi les Sound fi les NXT fi les
NXT Program
Forward 5
Backward 5
Empty
Turn left 2
Turn right
Back right 2
Tone 1
Forward
Empty
Touch
Dark
Light
Wait 2
Object
Stop
Loop
Turn left
Back left
Tone 2
Back left 2
Sound
Wait 5
Wait 10
File name: Untitled
Main menu
File exists. Overwrite?
Save
Run
Delete
Sending fi le
Send
Turn right 2
Back right
Backward
File saved
Port 1: Touch Sensor
Port 2: Sound Sensor
Port 3: Light Sensor
Port 4: Ultrasonic Sensor
Port B/C: L/R motors
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NXT TECHNOLOGY
View
Ambient light
Refl ected light Sound dBA Sound dB
Light Sensor* Temperature C*
Temperature F*
Motor rotations
Rotation*
Bluetooth
Settings
Try Me
Volume
Touch
My contacts
Visibility
On/Off
Visible
On
Invisible Off
Search
Connecting
Searching
Connection?
Turning on
Line is busy
Failed!
Port 1 2, 3, 4, A, B, C
Ultrasonic inch
Ultrasonic cm
Delete fi les
Deleting all fi les!
Are you sure?
Connections
Motor degrees
Sleep
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The Touch Sensor gives your robot a sense of touch.
The Touch Sensor detects when it is being pressed by
something and when it is released again.
TOUCH SENSOR
Suggestions for use
You can use the Touch Sensor to make your robot pick up
things: a robotic arm equipped with a Touch Sensor lets the
robot know whether or not there is something in its arm to
grab. Or you can use a Touch Sensor to make your robot act on
a command. For example, by pressing the Touch Sensor you can
make your robot walk, talk, close a door, or turn on your TV.
Test it!
Test the Touch Sensor and get a fun reaction.
Connect a Touch Sensor to port 1 of your NXT and
select the Try-Touch program in the Try Me submenu
on the NXT’s display.
NXT TECHNOLOGY
Pressed Released Bumped
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The Sound Sensor makes your robot hear!
The Sound Sensor can detect both decibels (dB) and
adjusted decibels (dBA). A decibel is a measurement of
sound pressure.
dBA: In detecting adjusted decibels, the sensitivity of
the sensor is adapted to the sensitivity of the human
ear. In other words, these are sounds that your ears are
able to hear.
dB: In detecting standard (unadjusted) decibels, all
sounds are measured with equal sensitivity. Thus, these
sounds may include some that are too high or low for the human ear to hear.
The Sound Sensor can measure sound pressure levels up to 90 dB - about the level
of a lawnmower. Sound pressure levels are extremely complicated, so the Sound
Sensor readings on the MINDSTORMS
®
NXT are displayed in percent (%). To give some
comparative examples: 4-5% is like a silent living room. 5-10% would be the reading
you get from someone talking some distance away. 10-30 % is normal conversation
close to the sensor or music played at a normal level. And you will record readings of
30-100% from people shouting and music played at high volumes.
SOUND SENSOR
Suggestions for use
You can use the Sound Sensor to make
a sound controlled robot. Talk to your
robot and it will answer you back. Clap
your hands and the robot can pick up
things and bring them to you.
Select the View submenu on the
NXT’s display. Select the Sound
Sensor icon and the port where you
have connected the sensor.
Make some sounds into the Sound Sensor and watch the readings
displayed on the NXT. Use the sensor to read some sounds around you.
How loud do your parents speak? How loud is your front doorbell?
Test it!
Test the Sound Sensor’s ability to read
sound volume:
Connect the Sound Sensor to the NXT.
Select the Try Me submenu on the NXT’s display and test
your Sound Sensor. You’ll get a fun reaction.
NXT TECHNOLOGY
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The Light Sensor is one of the two sensors that give
your robot vision (the Ultrasonic Sensor is the other).
The Light Sensor enables your robot to distinguish
between light and dark. It can read the light intensity
in a room and measure the light intensity of colored
surfaces.
Select the View submenu on the
NXT’s display. Select the Light
Sensor icon and the port where you
have connected the sensor.
Hold the Light Sensor up to the different colors on the test pad and see
the different readings.
Test it!
You can test the Light Sensor in different ways:
Connect the Light Sensor to the NXT.
Detecting ambient (surrounding) light
Test the Light Sensor’s ability to read ambient light by
measuring the light level in different locations of the room.
For example, fi rst hold the sensor against the window. Then
hold it under the table. Watch how the readings differ.
Suggestions for use
You can use the Light Sensor to make a burglar
alarm robot: when an intruder turns on the light
in your room, the robot can react to defend your
property. You can also use the Light Sensor to
make a line-following robot or a robot that can
sort things by color.
LIGHT SENSOR
NXT TECHNOLOGY
This is what your eyes see.
This is what your robot will see,
using the light sensor.
Select the Try Me submenu on the NXT’s display and test your
Light Sensor. You’ll get a fun reaction.
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The Ultrasonic Sensor is the other sensor that gives
your robot vision. The Ultrasonic Sensor enables the
robot to see and detect objects. You can also use it to
make your robot avoid obstacles, sense and measure
distance, and detect movement.
The Ultrasonic Sensor measures distance in
centimeters and in inches on the NXT. It is able to
measure distances from 0 to 255 centimeters with a
precision of +/-3 cm.
The Ultrasonic Sensor uses the same scientifi c principle as bats: it measures
distance by calculating the time it takes for a sound wave to hit an object and return
– just like an echo.
Large-sized objects with hard surfaces return the best readings. Objects made of
soft fabric or that are curved (like a ball) or are very thin or small can be diffi cult for
the sensor to detect.
Note that two or more Ultrasonic Sensors operating in the same room may interfere
with each other’s readings.
ULTRASONIC SENSOR
Suggestions for use
You can use the Ultrasonic Sensor in
many different ways. Program a robot to
sneak around the house without it
bumping into things. Or make an
advanced burglar alarm robot that reacts
to movement as well as light. Your
Scorpion robot “stings” if you come to
close.
Select the Ultrasonic Sensor icon
and the port where you’ve connected the sensor.
Measure the distance to an object. For example, move your hand closer to
the sensor and watch the readings change.
Test it!
Test the Ultrasonic Sensor’s ability to measure distance:
Connect the Ultrasonic Sensor to the NXT.
Select the View submenu in the NXT display.
Select the Try Me submenu on the NXT’s display and test your
Ultrasonic Sensor. You’ll get a fun reaction.
NXT TECHNOLOGY
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The three Servo Motors give your robot the ability
to move. If you use the Move block in the
software to program your motors, the two motors
will automatically synchronize, so that your robot
will move in a straight line.
Select the Motor Rotations icon.
Select the port where you have
connected the motor.
Now attach a wheel to the motor and measure the rotations as you roll the wheel along the fl oor.
Test it!
Test the built-in Rotation Sensor’s ability to measure distance:
Connect a motor to the NXT.
Select the View submenu in the NXT’s display.
The built-in Rotation Sensor in each
motor also lets you set different speeds
for your motors (by setting different
power parameters in the software). Try
running the motors at different speeds.
Built-in Rotation Sensor
Each motor has a built-in Rotation Sensor. This lets
you control your robot’s movements precisely. The
Rotation Sensor measures motor rotations in degrees
or full rotations (accuracy of +/- one degree).
One rotation is equal to 360 degrees, so if you set a
motor to turn 180 degrees, its output shaft will make
half a turn.
INTERACTIVE SERVO MOTORS
NXT TECHNOLOGY
Select the Try Me submenu on the NXT’s display and test your
motors. You’ll get a fun reaction.
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1. The motor
2. Tachometer (Rotation Sensor)
3. Built-in gearing
NXT TECHNOLOGY
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NXT TECHNOLOGY
Bluetooth is a technology that makes it
possible to send and receive data without
using wires or cables. Using Bluetooth,
you can exchange programs between your
NXT and other NXTs. Or you can establish
a wireless connection between your computer and your robot and try out programs
instantly − even with your robot on the
other side of the room!
If you have a mobile phone with Bluetooth
capability, you can use it to control your
robot. You might even be able to use it as
an advanced sensor, like a camera sensor.
Visit www.MINDSTORMS.com/bluetooth, for
more information on mobile phone requirements.
USING BLUETOOTH
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