ROBOTICS

TXT Controller

Overview of connections 4
Safety instructions 5
Intended use 5
The ROBOTICS TXT Controller 6
Devices that are compatible with the ROBOTICS TXT Controller 7
Actuators 7
Sensors 7
ROBOTICS TXT Controller / Extensions 8
fischertechnik USB camera 8
Radio transmission 8
Uses for the jack sockets, connector plugs and pushbutton switches 8
Software requirements 11
Powering the Controller 11
Switching the Controller on and off 11
Switching on 11
Switching off 12
Configuring the Controller 12
Menu overview 12
Menu in detail 13
Status bar 13
Control elements 14
Main menu 15
File selection 15
Settings 15
Test 16

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Program files 16
Role 17
Languages 17
Network 17
Time 18
INFO display 18
Sound 18
Connecting the Controller to the PC 19
Selecting and starting a program 19
Extensions (EXT connection) 20
Bluetooth/Wi-Fi connections 21
Faults 26
Electromagnetic interference 26
Technical data 27
Proper disposal 29
Warranty 29
Liability 30
Declaration of Conformity 31

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Overview of connections

1. USB-A port (USB-1) 9. Outputs M1 to M4 or O1 to O8

2. EXT connection for extensions 10. Inputs C1 to C4
3. Mini USB port (USB-2) 11. 9 V OUT
4. IR receiver diode 12. ON/OFF switch
5. Touch display 13. Speaker
6. Micro SD card slot 14. 9 V OUT (positive terminal)
7. 9 V IN, rechargeable battery pack 15. Coin cell battery compartment
connection 16. Universal inputs I1 to I8
8. 9 V IN, DC socket

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Safety instructions
▯ Check the battery charger regularly for damage.
▯ If damage is found, do not use the battery charger until it is
completely repaired.
▯ Do not insert wires into the electrical outlet.
▯ Do not attempt to charge non-rechargeable batteries.
▯ Remove the rechargeable batteries from the battery compartment
before charging.
▯ Only charge rechargeable batteries under the supervision of an
adult.
▯ Ensure the polarity is correct when inserting the batteries.
▯ Do not short-circuit the connecting terminals.
▯ Only operate the ROBOTICS TXT Controller with a fischertechnik
power supply such as the rechargeable battery pack 35537.
▯ When connecting the rechargeable battery pack to the controller,
pay special attention to the following:
Connect the positive terminal of the "9 V IN" connection to the
positive terminal (+) of the rechargeable battery pack.
Connect the negative terminal of the "9 V IN" connection to the
negative terminal (–) of the rechargeable battery pack.
▯ The maximum permissible operating temperature is 40 °C.
▯ Do not allow sharp or pointed objects to come in contact with the
touch display. You risk damaging the equipment.

Intended use
The controller is intended only to be used for the operation and control
of fischertechnik models.

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TXT Controller

The ROBOTICS TXT Controller

The compact ROBOTICS TXT Controller can be conveniently controlled
with the color touch display. The combined Bluetooth/Wi-Fi wireless
module provides the perfect, wireless interface for numerous
applications. The numerous interfaces also include a USB host port for
additional components such as the fischertechnik USB camera. With its
powerful processor, Linux operating system and large RAM and flash
memory capacity, the ROBOTICS TXT Controller is a high-performance
control unit for all fischertechnik ROBOTICS models. The integrated
micro SD card slot allows for expansion of the memory capacity.
With the fischertechnik grooves on five sides and the compact
dimensions, the space-saving ROBOTICS TXT Controller can be installed
in fischertechnik systems and models.

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Devices that are compatible with the ROBOTICS TXT Controller

The following devices can be connected or controlled. Additional
devices can also be used to expand the capabilities of the controller.

Actuators
(9 V, 250 mA)
▯ Electric motors
▯ Bulbs
▯ Buzzers
▯ Electromagnets
▯ Solenoid valves (from the pneumatic construction sets)

Sensors
(digital: 5 kΩ,10 V; analog: 0 – 5 kΩ, 0 –10 V)
▯ Pushbutton switch
▯ Magnetic sensors (reed contacts)
▯ Light sensors (phototransistors, photo resistors)
▯ Heat sensors (NTC resistors)
▯ Ultrasonic sensors (TX art. no. 133009 with three-wire
connection version only)
▯ Color sensors
▯ Infrared sensors (trail sensors)
▯ Potentiometers
▯ Magnetic encoders

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ROBOTICS TXT Controller / Extensions

Two controllers can be connected via the 10-pin expansion plug (2). This
plug is also used to connect I2C components and to extend number of
inputs and outputs.

fischertechnik USB camera

The camera can be connected to the USB host interface (USB-1) (1).

Radio transmission
Bluetooth or Wi-Fi provides the ability to connect to other devices such
as a PC, other ROBOTICS TXT Controllers and smartphones.

Uses for the jack sockets, connector plugs and pushbutton switches
1. USB-A port (USB-1):
USB 2.0 host connection for components
such as the fischertechnik USB camera, art.
no. 152522
2. EXT connection for extensions
With this connection, an additional ROBOTICS
TX Controller can be connected to extend the
number of inputs and outputs. In addition,
it includes a I2C interface and serves as a
connection for future extension modules.
3. Mini USB port (USB-2):
The USB 2.0 port (USB 1.1 compatible) is
used to connect to the PC. The appropriate
USB cable is included.
4. IR receiver diode
The infrared receiver diode can receive signals from the
fischertechnik Control Set transmitter. These signals can be read into
the control program via special inputs and analyzed (e.g. using the
ROBO Pro software). The transmitter joysticks also provide the ability
to control the ROBOTICS models remotely.

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5. Touch display
The color touch display shows the status of the controller, which
programs are loaded, and where you are in the menu. Functions
and programs can be selected, activated and deactivated. When
a program is running, you can view values of variables or values
of analog sensors. A useful menu overview is shown under
"Configuring the controller (menu overview)."
6. Micro SD card slot
A micro SD card (not included in the scope of delivery) can be
inserted in this slot to provide additional storage space.
7. 9 V IN rechargeable battery pack
connection
This connection allows mobile power supply
through the fischertechnik rechargeable
battery pack (not included in the scope of
delivery) as an alternative to the power unit.
8. 9 V IN DC socket
(3.45 mm, center positive terminal)
This is where the power unit from the Power
Set is connected (not included in the scope of
delivery).
9. Outputs M1 to M4 or O1 to O8
Four motors can be connected to the outputs.
Alternatively, you can connect eight lamps or electromagnets whose
second terminal is connected to a ground connection ( ).
10. Inputs C1 to C4
Quick counter inputs record counts up to 1 kHz (1000 pulses per
sec.), such as from fischertechnik encoder motors. Can also be used
as digital inputs, for example, for pushbutton switches.
11. 9 V OUT
Supplies sensors such as color sensors, trail sensors, ultrasonic
distance sensors and magnetic encoders with the required 9 V+
operating voltage.
12. ON/OFF switch
Switches the power supply to the controller on or off.

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13. Speaker
The speaker plays back noises or sounds stored on the controller or
memory card.
14. 9 V OUT
Supplies sensors such as color sensors, trail sensors, ultrasonic
distance sensors and magnetic encoders with the required 9 V+
operating voltage.
15. Coin cell battery compartment
The controller contains a real-time clock that
is powered by a CR 2032 coin cell battery.
The controller can then output the measured
data with the time. Should the battery die, you
can open the battery compartment cover and
replace the battery.
16. Universal inputs I1 to I8
These are the all-purpose signal inputs. They
can be set with the ROBO Pro software for:
▯ Digital sensors (pushbutton switches, reed
switch contacts, phototransistors) – digital 5 kΩ
▯ Infrared trail sensors – digital 10 V
▯ Analog sensors, 0–5 kΩ (NTC resistors, photo resistors
and potentiometers)
▯ Analog sensors, 0–10 V (color sensors) display of value
in millivolts (mV)
▯ Ultrasonic distance sensors (only the TX version with
three-wire connection, art. no. 133009)

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Software requirements
Software requirement for the ROBOTICS TXT Controller:
▯ ROBO Pro version 4.0 or higher
In the ROBO Pro software Help, the following, among other things, are
described in detail:
▯ Installing the ROBO Pro software on the PC
▯ Installing the USB driver for the ROBOTICS TXT Controller for
Windows operating systems

Powering the Controller

There are two power options available:
▯ Connect the rechargeable battery pack to the "9 V IN" connections
See number 7 under "Overview of connections"
This connection allows for a mobile power supply through the
fischertechnik rechargeable battery pack (not included in the scope
of delivery).
▯ Connect the power unit to the "9 V IN" DC socket
See number 8 under "Overview of connections"
In this case, the power unit from the Power Set is connected (not
included in the scope of delivery).

Switching the Controller on and off

Switching on
To switch on, press and hold the ON/OFF button (12) for approximately
1 second. See number 12 under "Overview of connections". Once
activation is complete, you will first see a welcome screen and then the
main menu.
When switching on for the first time, you will need to select the desired
language using the touchscreen (the default setting is English):

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To change the language:

1. Tap Settings | Language.
2. Tap the desired language.
3. Use the -button to return to the main menu.

Switching off
To switch off, press and hold the ON/OFF button (12) for approximately
3 seconds. After it has powered down, disconnect the power unit from
the electrical outlet. See number 12 under "Overview of connections".

Configuring the Controller

The following sections cover the controller menu and settings options in
detail.

Menu overview

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Menu in detail

Status bar
The status bar contains display icons. The first four icons indicate the
status of data connections. If the icons are visible, a connection is
present.

Wi-Fi

Bluetooth

USB

Online mode
When in online mode, the program runs on the PC and data is
exchanged continuously between the PC and TXT Controller (see also
ROBO Pro Help).

Master or Extension
This icon indicates whether the controller is set as the Master* or
Extension*. M = operating as master; E = operating as extension.
Settings can be changed in the Settings | Role menu.
* Master: The controller, which is set as the master, receives control commands di-
rectly from the PC and passes these on to the extensions.
Extension: The controller, which is set as the extension, receives control commands
only through the master.

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Serial number
This number is permanent and unique to each controller. If more than
one controller is connected to a system, this number serves as the
differentiating factor in the assignment of control signals.

Time
Displays the currently set time. You can change this using the menu
Settings | Time.

Control elements
Touch the control elements to browse the menu.

Goes back one step in the menu.

Returns to the main menu.

Direction arrows used to scroll through the menu (only appear when the
menu is required).

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Level 1:
Main menu
▯ Line 1: Start Program
The selected program is started.
If no program is selected the green Start icon
appears gray instead.
After starting the program, the icon changes to a
Stop icon so you can stop the program.
▯ Line 2: File
Leads to the File menu.
▯ Line 3: Settings
Leads to the Settings menu.
▯ Line 4: Test
Leads to the Test menu.

Level 2:
File selection
If program files have been transferred by
downloading them from the PC to the controller,
then they are listed here. You can then select or
delete them, or apply start functions to them (see
Main Menu | File | File Name).

Settings
▯ Line 1: Role
Leads to the Role menu. This is where an
assignment is made to set the controller function as
Master* or Extension*.
▯ Line 2: Language
Leads to the Language Selection menu.

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▯ Line 3: Network
Leads to the Network menu. Wireless connections can be enabled or
disabled here.
In addition, this also shows the pairing code for Bluetooth and the
network security key for Wi-Fi, both of which are needed for connecting
up to the PC.
▯ Line 4: Info
Leads to the information screen with controller information such as the
serial number, wireless address and Bluetooth ID code.

Test
▯ Line 1: Sound
Leads to a screen where you can select and listen
to audio (sound) files.

Level 3:
Program files
▯ Line 1: Load
If this function is enabled, the program is loaded
into program memory and can be started using the
Start button in the main menu.
▯ Line 2: Auto Load
If this function is enabled, the program loads
automatically into program memory as soon as the
controller is powered up and can be started using
the Start button in the Main Menu.
▯ Line 3: Auto Start
If this function is enabled, the selected program starts automatically as
soon as the controller is powered up.

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▯ Line 4: Delete File

The program is deleted, but first a confirmation prompt appears.

Role
Here, the controller is assigned the role of Master
or Extension. More on the subject is available under
"Extensions."

Languages
Here you can change the menu language.

Network
▯ Line 1: Bluetooth
The Bluetooth function is switched on or off here.
The pairing code is shown here.
▯ Line 2: Wi-Fi
The Wi-Fi function is switched on or off here.
The network security key is shown here
▯ Line 3: Connected with device
Indicates whether there is an existing Wi-Fi
connection.
▯ Line 4: Device discoverable
Indicates whether the ROBOTICS TXT Controller can detect other devices.

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Time
You can set the time here.

INFO display
▯ Firmware
Shows the version number of the firmware.
▯ Name
The name of the device is shown
(for example, TXT 254).
▯ Bluetooth
Unique Bluetooth ID code of the device (Bluetooth
standard).
▯ Wi-Fi
Wi-Fi address

Sound
Here you can select and listen to the displayed
audio files.

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Connecting the Controller to the PC

When connecting the controller to the PC for the first time, the driver
for the USB interface must be installed on the PC. This is usually done
automatically if the ROBO Pro software is already installed on the PC.
The details are described in the ROBO Pro software Help.
1. Connect the USB cable to the PC.
2. Plug the power unit into the electrical outlet (or connect the
rechargeable battery pack).
3. Plug the small connector of the power unit into the 9 V IN input jack
(8) of the controller.
4. Switch on the controller with the ON/OFF switch (12). Hold the
switch down for approximately 1 second when doing so.
A welcome screen appears with the version number of the firmware.
The operating system is loaded. The main menu is then displayed. This
is the starting point for navigating the controller menu (see "Menu in
detail").

Selecting and starting a program

1. First, a program must be transferred by downloading it from the PC
to the ROBOTICS TXT Controller. A test of the connection and the
precise steps for downloading the program are described in the
ROBO Pro software Help.
2. After the program is downloaded, it starts automatically in the basic
setting.
3. The process is halted by tapping on the red Stop icon on the display.
4. Changes to the start behavior can be assigned individually to any
program file, for example, Auto Start or Auto Load. You can choose
the settings in the File | "File Name X" | Settings menu.
Details about the particular functions can be found under "Menu in
detail."

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Extensions (EXT connection)

Additional TXT Controller
The "EXT" 10-pin plug connector is used to connect another ROBOTICS
TXT Controller. See number 2 under "Overview of connections".
This allows for an additional number of inputs and outputs.
1. Provide power to the unit using the power unit or the rechargeable
battery pack.
2. Use the display to assign the extension function to the new
controller.
This is done through the Settings | Role | Extension menu.
3. Connect the controllers with each other using the ribbon cable,
which is included. The controller status bar will then show which is
the master (M) and which is the extension (E). See "Status bar".
Plans for additional extension modules are underway.

I2C interface
This standard interface is intended for commercially available
components that use this interface, such as special sensors.

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Bluetooth/Wi-Fi connections
The ROBOTICS TXT Controller includes a function module that can
connect wirelessly to a PC or other devices via Bluetooth or Wi-Fi. The
setting for enabling Bluetooth or Wi-Fi is made using the Settings menu
in the controller display.
These wireless connections replace the USB connection cable with a
wireless radio connection. This allows the ROBOTICS TXT Controller to
receive and transmit information in the online mode, which means the
program runs on the PC and data is exchanged continuously between
the PC and the ROBOTICS TXT Controller. Using one of these wireless
connections, programs can also be loaded onto the controller, where
they are then processed independently of the PC.

Requirements:
Bluetooth/Wi-Fi-capable PC or commercially available USB Bluetooth or
Wi-Fi adapter with a Windows-compatible wireless chip.
fischertechnik has published a list of compatible USB Bluetooth adapters
that have been successfully tested to work smoothly with the ROBOTICS
TXT Controller. New adapters are continually appearing on the market,
while others are no longer available. To keep up with these changes, this list
is continually updated through a service on our website at:
www.fischertechnik.de – Downloads – ROBOTICS TXT Controller
Notes on the data transmission quality:
The range is about 10 meters and is dependent on the quality of the
USB/Wi-Fi adapter and the ambient conditions (interference from other
devices, obstacles in the area, etc.).
Due to the limited range, expect limitations when transmitting image
data from the fischertechnik USB camera when connected via
Bluetooth.
The available range via Wi-Fi is much higher, providing for superior
quality image transmission.
Use the USB cable to achieve the highest range and thus the best
quality when transmitting images.

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Connecting the TXT Controller to the PC via Wi-Fi

Requirements:
1. The PC must have a Wi-Fi module, or a USB Wi-Fi adapter must be
connected to the PC and the associated driver software installed.
2. The ROBOTICS TXT Controller must be switched on and Wi-Fi must
be enabled in the Settings menu under Network (see "Menu in detail").
To connect to the ROBOTICS TXT Controller, click on the network icon in
the bottom right-hand section of the taskbar on the computer screen.

Note:
If the computer already has a wireless connection, the icon will appear
as follows:

The following window appears:

Select ft-TXT_…. and then click Connect

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The network security key then has to be

entered. This can be found on the controller
display under Settings – Network.

The connection will be established:

If you then click on the network icon again,

you will see in the window the appears
that the connection has been established
and the device can now be used:
Note:
The window where you set up a Wi-Fi
connection can also be accessed via the
following:
Windows Start button – Control Panel–
Network and Internet – Connect to a
network.
The dialog boxes and icons may vary
in appearance on different Windows
operating systems. The example here is
from Windows 7.

Connecting the TXT Controller to the PC via Bluetooth

Requirements:
1. The PC must have a Bluetooth module, or a USB Bluetooth adapter
must be connected to the PC and installed.

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Note: If using a USB Bluetooth adapter, always use the preinstalled

Windows Bluetooth drivers and not the specific driver associated
the Bluetooth adapter that usually comes with it on a CD. This will
ensure for a smooth and easy Bluetooth connection between the PC
and ROBOTICS TXT Controller. To do this, simply insert the Bluetooth
adapter into an available USB port. Windows will automatically load the
preinstalled Microsoft drivers and will inform you after a short time that
the device is ready.
2. The ROBOTICS TXT Controller must be switched on and "Bluetooth"
must be enabled in the Settings menu under Network (see "Menu in
detail").

Connecting via Bluetooth:

To connect to the ROBOTICS TXT
Controller via Bluetooth, select the
Windows Start button on the computer
screen and then select Devices and
Printers.

A new window appears:

Click Add a device.

All visible devices will then be displayed,

including the ROBOTICS TXT Controller.
Double-click to select the TXT Controller.

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A new window appears:

Confirm either the proposed pairing code:

or, if you‘re asked for the pairing code

of the device, enter the code which you
can find on the controller display under
Settings - Network.

Click Next to establish a connection to the device. Once the connection

is successful, the message "The device has been successfully added
to this computer." It may take some time before Windows finishes
installing all the drivers. It does not matter if no driver will be found, the
connection will work anyway.

Then the following steps have to be done in Control panel – Hardware

and Sound – devices and printers:
1. The TXT Controller has to be
selected
2. in the menu Connect using 2.
– Access point the Bluetooth
connection has to be activated.
Important: This last step ha to
be done allways when th PC or
the TXT Controller is switched
off and on again. 1.

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Once complete, the Bluetooth connection can be used for this device in
the ROBO Pro software and can be selected as an interface under COM/
USB.

Bluetooth connection between different TXT Controllers

In download mode, a ROBO TXT Controller can exchange data with up
to seven other ROBOTICS TXT Controllers. Each device establishes a
Bluetooth connection with every other participant and transmits and
receives data over this connection.

Special program elements are provided in ROBO Pro to send and receive
messages.
Additional information about this operating mode is available in the
ROBO Pro software Help (version 4.0 or higher).

Bluetooth/Wi-Fi connection between TXT Controllers and other

devices (e.g., a mobile phone)
Basically, the ROBO TXT Controller can also communicate with other
Bluetooth/Wi-Fi devices, such as suitable smartphones. To do this, the
particular device must have special communication software, which
is adapted for the ROBOTICS TXT Controller. Since continual changes
can also be expected in this area, current information and links are also
available at:
www.fischertechnik.de – Downloads – ROBOTICS TXT Controller

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Faults
Electromagnetic interference
If the controller is affected by external electromagnetic influences, it can still be
used for the purpose intended once the interference passes. It may be necessary to
disconnect the power supply briefly and then restart the controller.

Fault Cause Elimination

Program version failure An attempt was made to load Reload the program with the
or start a ROBO Pro program latest ROBO Pro version onto
that is part of an older firmware the ROBO TX Controller.
version and is therefore no longer
compatible.
Program error 1 ROBO Pro error message: Under the "Properties" tab
The number of processes in the of the ROBO Pro program,
ROBO Pro program is greater than increase the "minimum number
the maximum possible number. of processes."
Program error 2 ROBO Pro error message: a) Under the "Properties" tab
The minimum memory per of the ROBO Pro program,
process is too small. increase the "minimum memory
per process (download)".
b) A variable or a subprogram
calls itself endlessly (recursion),
resulting in a stack overflow.
Change the program so that the
recursion no longer occurs.
Program file open The program file could not be Reload the program file onto
failure opened because it was deleted in the ROBO TX Controller.
the flash memory.
Program file read failure The program file could not be read The program file must be
because it is too large to fit in the reprogrammed so that it
program memory. requires less space in the
memory.

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Technical data

Dimensions and weight

90 x 90 x 25 mm (L x W x H)
150 g

Memory and processor

128 MB DDR 3 RAM, 64 MB flash, micro SD card slot (memory card not
included)
32-bit ARM Cortex A8 processor (600 MHz) + 32-bit Cortex M3
coprocessor; programmable with ROBO Pro software or C-Compiler (not
provided)

Operating system
Linux-based, Open Source, incl. Linux camera drivers, image processing
software integrated in ROBO Pro (ROBO Pro not included in scope of
delivery).

Power supply (not included)

With Accu Set (8.4 V, 1500 mAh), or
Power Set (9 V / 2500 mA)

Interfaces:
USB 2.0 device: mini USB port
USB 2.0 host: USB-A port
Wireless interface (2.4 GHz / range approx. 10 m)
Bluetooth: BT 2.1 EDR+4.0
or Wi-Fi 802.11 b / g / n
IR receiver code: for fischertechnik Control Set transmitters, art. no.
500881
EXT extension connection: 10 pin plug connector; I2C

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EXT PIN assignment:

Ser-RX (3V3) 10 9 Ser-TX (3V3)
Reserved 8 7 Reserved
I2C / SCL clock (3V3) 6 5 I2C / SDA data (3V3)
Extension data 4 3 Extension data
Extension data 2 1 Ground / GND

Please note that all cables are configured to operate with 3.3 volts.
Warning: External voltages greater than 3.3 volts could damage the
device!

Signal inputs and outputs

8 Universal inputs: digital, analog 0 to 9 V DC; analog 0 to 5 kΩ
4 high speed counter inputs: digital, frequency up to 1 kHz
4 motor outputs 9 V / 250 mA: speed infinitely adjustable, short-circuit
proof, alternative 8 individual outputs
Sound output: .wav files through speaker

Touch display
2.4" TFT, 320 x 240 pixels, 65,536 colors
Warning: Do not allow sharp or pointed objects to come in contact with
the touch display. You risk damaging the equipment.

Real-time clock
Backup battery: CR-2032 coin cell

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Proper disposal
Notes on environmental protection:
Do not dispose of the electrical and electronic components of this
construction set (e.g. motors, lamps and sensors) in the household
waste. At the end of their service life, take them to a collection point for
electrical and electronic device recycling.
The symbol on the product, packaging or the instructions indicates this.

Warranty
The fischertechnik GmbH provides a warranty for the freedom from
defects of the controller according to the particular state of the
technology. fischertechnik GmbH reserves the right to make design
or model alterations which neither adversely affect the operational
reliability nor the value of the device. Such changes do not entitle the
customer to file a complaint.
Notification of claims due to obvious defects must be provided in writing
within 14 days after the delivery, otherwise any warranty claims as a
result of obvious defects shall be excluded.
Warranty claims do not apply in the case of minor defects in the
controller. In other respects, the customer may only demand remedy
for the defect, which means subsequent improvement or the delivery
of a replacement. The customer is entitled to choose at his discretion
either to withdraw from the contract or to demand a reduction in the
purchase price if the remedy of defect is unsuccessful, particularly if
it is impossible, if we are unable to remedy it within a reasonable time
frame, if we refuse to perform the remedy, or if delays in the remedy
are culpably caused by us. The warranty period is 24 months from the
date of delivery. We shall not accept responsibility for material defects
related to the controller which are the result of improper or negligent
handling or due to improper or unauthorized modifications, changes or
repair work performed by the customer or a third party. This warranty is
governed by German law.

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Liability
fischertechnik GmbH shall not assume liability for damages as a result of
use of the device in a manner not corresponding with its intended use.

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Declaration of Conformity

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