BUILD AND PROGRAM ROBOTS THAT DO WHAT YOU WANT!

LEGO MINDSTORMS
® ®

User Guide
 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 soft-
ware and watch your robot come alive. For your first 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 Inter-
active 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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CONTENTS
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 first program ................................................. 40
Software user interface ......................................... 42
The Robo Center ..................................................... 44
The programming palette....................................... 45
The configuration panel ......................................... 47
The Controller ........................................................ 47
LEGO BRICKS
Element overview ................................................... 48
Building instructions .............................................. 49
Test pad ................................................................. 72
USEFUL INFORMATION
Troubleshooting ..................................................... 74

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 INTRODUCTION

BUILD. PROGRAM. GO!

Build
Build a robot. You can find 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.

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.

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INTRODUCTION

Quick Start
Use the Quick Start kit to get your first
MINDSTORMS experience. In the Quick
Start kit you will find everything you
need to get off to a great start. It will
only take you a few minutes to create
your first MINDSTORMS robot, test it,
and get a fun reaction.

Go!
Run the program and watch your robot
come to life.

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 NXT TECHNOLOGY

NXT TECHNOLOGY OVERVIEW

The NXT
The NXT is an intelligent, computer-controlled
LEGO® brick and the brain of the MINDSTORMS® robot.

Touch Sensor
Enables the robot to feel and react to
its environment.

Sound Sensor
Enables the robot to hear and react to
sound.

Light Sensor
Enables the robot to detect light and
color.

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NXT TECHNOLOGY

Interactive Servo Motors

Ensure that the robot moves with precision.

Standard port settings for sensors

and motors
To make your robot work correctly, the sensors and
motors should be connected to specific input and out-
put 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
Ultrasonic Sensor Port A: Motor used for an extra function
Port B: Motor for movement
Enables the robot to see, measure
distance to an object, and react to Port C: Motor for movement
movement.

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 NXT TECHNOLOGY

CONNECTING THE 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).

C B A 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).

1 2 3 4 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.

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 NXT TECHNOLOGY

1 Connecting the NXT to a PC with a USB cable

Turn on the NXT.
Make sure that the
LEGO® MINDSTORMS® NXT
Software is installed before
connecting your NXT to your PC
(see page 38).

2 Connect the PC and the NXT with the USB cable.

When the PC identifies the NXT it will automatically finalize the

installation of the LEGO MINDSTORMS NXT Software.

3 4

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.

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 NXT TECHNOLOGY

ABOUT THE NXT

The NXT is the brain of a MINDSTORMS® robot. It’s an intelligent, USB port
computer-controlled LEGO® brick that lets a MINDSTORMS robot come Connect a USB cable to the USB port and down-
alive and perform different operations. load programs from your computer to the NXT (or
upload data from the robot to your computer).
Please note that all text on the NXT display is in English. You can also use the wireless Bluetooth connec-
tion for uploading and downloading.

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

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 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.

USB connected and working fine.

USB connected but not working properly.

Sensor ports
The NXT has four input ports for attaching sen-
sors. The sensors need to be attached to port 1,
2, 3 or 4.

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 NXT TECHNOLOGY

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.

Battery level
The battery icon displays the power level of the
NXT. When battery power is low, the battery icon
will flash on and off.

Technical specifications
• 32-bit ARM7 microcontroller
Running icon • 256 Kbytes FLASH, 64 Kbytes RAM
When your NXT is turned on, the running icon will
spin. If the running icon stops spinning, your NXT • 8-bit AVR microcontroller
has frozen and you will need to reset it (see page • 4 Kbytes FLASH, 512 Byte RAM
74, Troubleshooting.) • Bluetooth wireless communication (Bluetooth Class II
V2.0 compliant)
Loudspeaker • USB full speed port (12 Mbit/s)
Make a program with real sounds and listen to • 4 input ports, 6-wire cable digital platform (One port
them when you run the program. includes a IEC 61158 Type 4/EN 50 170 compliant
expansion port for future use)
• 3 output ports, 6-wire cable digital platform
NXT buttons • 100 x 64 pixel LCD graphical display
Orange button: On/Enter • Loudspeaker - 8 kHz sound quality. Sound channel with
Light grey arrows: Used for moving left and right 8-bit resolution and 2-16 KHz sample rate.
in the NXT menu.
Dark grey button: Clear/Go back • Power source: 6 AA batteries

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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 NXT TECHNOLOGY

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.

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 NXT TECHNOLOGY

NXT MAIN MENU

My Files

The My Files submenu will let you see all of the programs you
have made on the NXT or downloaded from your computer.

Software files - programs you NXT files - programs you have Sound files
have downloaded from your made on the NXT
computer

Files will automatically be placed in the appropriate subfolders. When you

download a program including a sound file to your NXT, the program will be
placed under Software files, while the sound data will be placed under Sound
files. You can send files to other NXTs. Read more about this on page 36.

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 NXT TECHNOLOGY

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
indefinitely until you stop the program.

Make sure that your sensors and motors are connected to the right
ports.
1 2 3

Select Forward. Use the arrow buttons Select Touch. Select Backward.
to move through the choices and then
press the orange button (Enter) to
make your selection.

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 NXT TECHNOLOGY

4 5 6

Select Touch again. Now select if you want the program to Now you can run your program.
Loop. This means that the program will Simply select Run!
run again and again until you switch
off the NXT. For our little test, select
Loop.

Try these programs as well:

1.

2.

3.

4.

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 NXT TECHNOLOGY

Try Me

The Try Me submenu lets you test your sensors and motors
in a fun way:

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.

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 files again using the
Settings submenu.

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 NXT TECHNOLOGY

View

The View submenu lets you carry out a quick test of your
sensors and motors, observing real-time data from each
unit:

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.

1 2 3

Select the icon of the sensor or motor Select the port that the sensor or mo- The data from the sensor or motor will
you would like to test. You can only get tor is attached to. appear on the display.
readings from one sensor or motor at
a time.

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 NXT TECHNOLOGY

Settings

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.

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
indefinitely (until you turn it off). Please be aware
that the Never setting will drain your batteries more
quickly.

Change volume: Delete all programs:

Here you can adjust the volume You are able to delete all downloaded pro-
of the NXT’s speakers. grams in the 3 sub folders: Software files,
NXT files, Sound files, from the Settings
submenu.

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 NXT TECHNOLOGY

Bluetooth

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

My Files NXT Program

Port 1: Touch Sensor

Port 2: Sound Sensor
Port 3: Light Sensor
Sound files Software files NXT files Port 4: Ultrasonic Sensor
Port B/C: L/R motors

Back left Turn left Turn left 2 Empty Backward Backward 5 Forward 5

Back left 2 Tone 2 Tone 1 Back right Back right 2 Turn right

Forward Turn right 2

Sound Light Dark Touch Empty

Object Wait 10 Wait 5 Wait 2

General Icons:
Loop Stop

Run Save File exists. Overwrite? File name: Untitled

Send Sending file Delete Main menu File saved

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 NXT TECHNOLOGY

View Bluetooth Settings Try Me

Volume Sleep Delete files

Sound dB Sound dBA Reflected light Ambient light

Temperature F* Temperature C* Light Sensor* Deleting all files!

Are you sure?

Rotation* Motor rotations Motor degrees

Ultrasonic cm Ultrasonic inch Touch

Port 1 2, 3, 4, A, B, C

Visibility On/Off Search My contacts Connections

Visible On
Searching Connecting

Invisible Off
Turning on Connection?

Failed! Line is busy

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 NXT TECHNOLOGY

TOUCH SENSOR

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.

Pressed Released Bumped

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.

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 NXT TECHNOLOGY

SOUND SENSOR
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 Suggestions for use
30-100% from people shouting and music played at high volumes. 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
Test it!
things and bring them to you.
Test the Sound Sensor’s ability to read
sound volume:
Connect the Sound Sensor to the NXT.

1 2 3

Select the View submenu on the Make some sounds into the Sound Sensor and watch the readings
NXT’s display. Select the Sound displayed on the NXT. Use the sensor to read some sounds around you.
Sensor icon and the port where you How loud do your parents speak? How loud is your front doorbell?
have connected the sensor.

Select the Try Me submenu on the NXT’s display and test

your Sound Sensor. You’ll get a fun reaction.

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 NXT TECHNOLOGY

LIGHT SENSOR
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.
This is what your eyes see.

This is what your robot will see,

using the light sensor.

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.

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, first hold the sensor against the window. Then
hold it under the table. Watch how the readings differ.

Test it!
You can test the Light Sensor in different ways:
Connect the Light Sensor to the NXT.
1 2 3

Select the View submenu on the Hold the Light Sensor up to the different colors on the test pad and see
NXT’s display. Select the Light the different readings.
Sensor icon and the port where you
have connected the 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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 NXT TECHNOLOGY

ULTRASONIC SENSOR
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 2 2-
precision of +/-3 cm.

The Ultrasonic Sensor uses the same scientific 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 difficult for
the sensor to detect.
Suggestions for use
Note that two or more Ultrasonic Sensors operating in the same room may interfere You can use the Ultrasonic Sensor in
with each other’s readings. 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
Test it! Scorpion robot “stings” if you come to
Test the Ultrasonic Sensor’s ability to measure distance: close.
Connect the Ultrasonic Sensor to the NXT.
Select the View submenu in the NXT display.

1 2 3

Select the Ultrasonic Sensor icon Measure the distance to an object. For example, move your hand closer to
and the port where you’ve con- the sensor and watch the readings change.
nected the sensor.

Select the Try Me submenu on the NXT’s display and test your
Ultrasonic Sensor. You’ll get a fun reaction.

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 NXT TECHNOLOGY

INTERACTIVE SERVO MOTORS

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.

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.

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.
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.
1 2 3 4

Select the Motor Rotations icon. Now attach a wheel to the motor and measure the rotations as you roll the wheel along the floor.
Select the port where you have
connected the motor.
Select the Try Me submenu on the NXT’s display and test your
motors. You’ll get a fun reaction.

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NXT TECHNOLOGY

1. The motor
2. Tachometer (Rotation Sensor)
3. Built-in gearing

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 NXT TECHNOLOGY

USING BLUETOOTH

Bluetooth is a technology that makes it If you have a mobile phone with Bluetooth
possible to send and receive data without capability, you can use it to control your
using wires or cables. Using Bluetooth, robot. You might even be able to use it as
you can exchange programs between your an advanced sensor, like a camera sensor.
NXT and other NXTs. Or you can establish Visit www.MINDSTORMS.com/bluetooth, for
a wireless connection between your com- more information on mobile phone require-
puter and your robot and try out programs ments.
instantly − even with your robot on the
other side of the room!

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