5 4 3 2 1

VCC3V VCC9V
DDP
DOA DOA XIN DDM J10 R78 D23
X1 TP66 USB_ADC
REA C32 R79 VCC1.8V
REA
TCK 1 Pad 15K SM4002
DEA 18.432MHz CSBT NM
DEA R94
C30 C31 10nF 1.5K TMS R91 R80
DIA JTAGSEL 10K C28
DIA
22pF 22pF VCC1.8V TDO 22K
C29 100nF
10K

64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
INTA0 INTA0 U7
D 1nF J12 D

VCC_PLL
PLLRC
XIN/PGMCK
XOUT
GND
VCC_FLASH
VCC_IO
DDP
DDM
ERASE
VCC_CORE
TCK
PA31
TMS
JTAGSEL
TDO
DIRA DIRA R81
VCC3V TP67 DDM 1
2
INTB0 27R 3
INTB0 4
1 48 INTC0 C33
DIRB ADVREF PA0/PGMEN0 DIRA USB
DIRB 2 GND PA1/PGMEN1 47
USB_ADC 3 46 33pF
ADC_I AD4 GND VCC3V R82
4 AD5 VCC_IO 45
VMBT_STATE 5 44 DIGID1 TP68 DDP
DIGID1 AD6 PA2 AVRSDA
6 AD7 PA3 43
MAIN1 7 42 DIGID0 27R
MAIN1 VCC_IN PA30
VCC1.8V 8 41 DIGIC0 C34 C35
MAIN0 SOUND_ARMA 9 VCC_OUT PA29 TST TP65 R83
MAIN0 PA17/PGMD5/AD0 TST 40
DIGIA1 10 39 NRST 15pF 15pF
MAPWM C36 C37 C38 C39 RXBT PA18/PGMD6/AD1 NRST DIGIB0 1.5K
MAPWM 11 PA21/PGMD9 PA28 38
VCC1.8V 12 37 VMBT_REQ VCC3V
100nF 4.7uF 2.2uF 470pF DIGIB1 VCC_CORE PA27/PGMD15 AVRSCL R109
13 PA19/PGMD7/AD2 PA4/PGMNCMD 36
TXBT 14 35 DOA
MBIN1 DIGIA0 PA22/PGMS10 PA5/PGMRDY DIA 10K TP64

PA7/PGMNVALID
MBIN1 15 PA23/PGMD11 PA6/PGMNOE 34 2 3
DIGIC1 TDI Q15

PA24/PGMD12

PA25/PGMD13
PA26/PGMD14
16 33

PA11/PGMM3
PA10/PGMM2
PA20/PGMD8/AD3 TDI

PA16/PGMD4

PA14/PGMD2
PA13/PGMD1

PA12/PGMD0
MBIN0 4.7 and 2.2 must be X7R BC857B

PA9/PGMM1
PA8/PGMM0
PA15/PGM3

VCC_CORE
MBIN0 100 nF and 470 pF must be NP0 R84

1
VCC_IO
MBPWM
MBPWM TP61

GND
VCC3V VCC3V 10K
R85
INTC0 INTC0 VCC3V VCC3V VCC3V AT91SAM7S256 USB_DP VCC5V

17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
VCC1.8V

4
C DIRC DIRC DEA REA U15B U15A 10K C
VCC3V DIRC RTS@BT 7 9 CTS@ARM 14 12

VCC

VCC
MCIN1 C41 C42 C43 C44 C45 USB_DP DIRB J Q J Q
MCIN1 10 K Q 8 3 K Q 13
INTA0 CSDIS
MCIN0 100nF 100nF 100nF 100nF 100nF SCKBT RSTBT TXBT 5 1
MCIN0 CLK CLK
SIBT SOBT R92 R93

GND

GND
MCPWM RTSBT INTB0 6 2 TP81 2.2K 2.2K
MCPWM CLR CLR
VCC1.8V CTS@ARM
74HC73 74HC73

11

11
ADC_A0 ADC_A0 J15 AVRRESET AVRSCL
VCC5V BUTTON0 TP69 I_ONB AVRSDA
I_ONA VCC3V 1 2 BUTT_ADC VCC3V I_ONA BUTT_ADC
I_ONA 3 4 TP70 Must be one pack or single,
GND SIBT BATT_PULS ADC_BATT
DIGIA0 GND 5 6 SCKBT Not mounted on the final version
DIGIA0 7 8
TP62 SOBT CSDIS TP71

32
31
30
29
28
27
26
25
DIGIA1 9 10 U8 ATmega48/V VCC_AVR5V VCC_AVR5V
DIGIA1

8
10 pin ARM JTAG interface

PD2 (INT0/PCINT18)
PD1 (TXD/PCINT17)
PD0 (RXD/PCINT16)
PC6 (RESET/PCINT14)
PC5 (ADC5/SCL/PCINT13)
PC4 (ADC4/SDA/PCINT12)
PC3 (ADC3/PCINT11)
PC2 (ADC2/PCINT10)
Connector to LCD and button PCB R89 R90 RA4D RA4C RA4B RA4A
VCC3V 2 1 VCC3V 10K 10K 10K 10K 10K 10K
ADC_B0 J19 GND 4 3 10k PULL UP C48 C55
ADC_B0
RSTBT GND GND 6 5 TDI

1
I_ONB MISOBT 1 2 CSBT GND TMS TP84 J17 100nF 100nF
I_ONB 3 4 8 7
RTS@BT TXBT GND 10 9 TCK TP83 TCK
DIGIB0 RTSBT 5 6 RXBT GND TCK TP82 TMS 1
DIGIB0 7 8 12 11 2
SIBT SCKBT GND 14 13 TDO TP85 TDO
DIGIB1 VMBT_STATE 9 10 VMBT_REQ GND TP86 NRST 3
DIGIB1 11 12 16 15 4
GND GND 18 17 N.C. TDI
VCC3V 13 GND N.C. GND 5 BUTTON0 ADC_C0
15 20 19 6 1 PD3 (PCINT19/OC2B/INT1) PC1 (ADC1/PCINT9) 24
B PU10K P_EN ADC_B0 B
7 2 PD4 (PCINT20/XCK/T0) PC0 (ADC0/PCINT8) 23
ADC_C0 ADC_C0 16 Pad VCC3V 3 22 ADC_A0
Blue Tooth PCB to PCB connector 8 VCC_AVR5V GND ADC7
9 4 VCC GND 21
I_ONC I_ONC 5 20
10 GND AREF ADC_D0
6 VCC ADC6 19
DIGIC0 R17 2 1 NRST Small connector 10 pin MCIN1 7 18 VCC_AVR5V
DIGIC0 PB6 (PCINT6/XTAL1/TOSC1) AVCC
single row, 1,27 pitch MCIN0 8 17 AVRSCK C77
DIGIC1 VCC3V PB7 (PCINT7/XTAL2/TOSC2) PB5 (SCK/PCINT5) I_OND

PD6 (PCINT22/OC0A/AIN0)

PB3 (PCINT3/OC2A/MOSI)
DIGIC1

PB0 (PCINT0/CLKO/ICP1)
0R NM

PD5 (PCINT21/OC0B/T1)
100nF

PB2 (PCINT2/SS/OC1B)
VCC3V

PD7 (PCINT23/AIN1)

PB1 (PCINT1/OC1A)
VMBT_STATE VCC3V

PB4 (PCINT4/MISO)
4
ADC_D0 ADC_D0 R30 U4A
MISOBT SOBT 14 12

VCC
J Q
4

I_OND I_OND U4B 3 13

RTS@BT CTS@ARM R31 10K K Q C58
7 9
VCC

DIGID0 J Q
DIGID0 10 K Q 8 1 CLK
10K 100nF ADC_A0

GND
DIGID1 TXBT 5 2 ADC_B0
DIGID1 CLK CLR
VCC3V ADC_C0
GND

6 11 74HC73 ADC_D0

9
10
11
12
13
14
15
16
CLR
74HC73 MCPWM AVRSO
11

VCC_SND MBIN0 I_ONC C69 C70 C71 C72

BATT_PULS Speaker R42 MBIN1 AVRSI
BATT_PULS TP60 TP59
J20 U9 SPY0030A MAIN0 MAIN1 47pF 47pF 47pF 47pF
P_EN 1 8 1MEG MBPWM MAPWM
P_EN 2 SPN VCC
1 2 SPP CE 7 BATT_PULS
3 6 R97 C51 R98 R99 Small connector
ADC_I 2 Pad GND VREF SOUND_ARMA TP58 AVR JTAG interface single row, 1,27 pitch
A ADC_I 4 INN ACIN 5 A

AVRSCK GND
NM=NOT MOUNTED
ADC_BATT ADC_BATT VCC_SND 15K 1uF 10K 10K 1 2 J16
AVRSO 3 4 VCC_AVR5V GND Title Engineer/constructer Date (YYYY/MM/DD)
C52 C53 C54 R25 N.C. AVRRESET VCC_AVR5V 1
5 6 2 LEGO LEGO
N.C. 7 8 N.C. AVRSCK
TST C49 100nF 3.3nF 2.2nF 1MEG AVRSI GND AVRSO 3 MINDSTORMS NXT Drafter Date (YYYY/MM/DD)
TST 9 10 4
AVRSI LEGO
100nF AVRRESET 5 Project Number
6 Schematic Name
7
8 Hardware
8 pin Page Size
Version Sheet
I 1 of 4 A3
5 4 3 2 1
 5 4 3 2 1

TP39
VCC9V_MOTOR VCC9V VCC_SW VCC_AVR5V
TP87 TP90
R69
J4 D29 Q22 L1 D28 R111
3 2 XP162A12A6PR
15uH
1 Pad RSX301L-30 RSX301L-30 4.7R
RUE185

2
NM

1
R67 Q23
1 XP161A1265PR U13 XC6202P50
470R 2 Vout 1

3
U5 Vin

GND
D 3 EXT/ VOUT 4 D
2 VCC
NM 1 5

3
Batteri GND CE
plus D27 + C7 + C8 + C59 C74 C60 XC9302 D31 + C62 C75 + C76 + C13 C14
BZG03 15V 10uF 47uF
1000uF 1000uF 10nF 470nF RSX301L-30 10nF 150uF 560uF 100nF

J5 R15
R29 0R

1 Pad 0.43R R13 0R R13, R20, R29 N.M.

Batteri VCC9V_MOTOR VCC_SND
minus
NM MUST BE SHORTED TP77 TP50
R20 0R
R16 WITH SOLDER U14 XC6202P50
3 Vin Vout 1

GND
0.43R
NM + C64
Shorted beneath components

2
R43 VCC_RS485 220uF
TP51 VCC_RS485
DIGID1 DIGID1
0.43R
TP52 TP53 DIRA
NM DIRA
8

R64 R19 INTC0 INTC0

8
3 R21 NM
+
1 5 R41 TST TST
+
C 0.43R 10K 2 7 ADC_I TP37 C
-
NM NM U6A 220K 6 -
LM358 NM U6B 4.7K
4

NM R27 C15 LM358 P_EN P_EN

4
NM R23 C46
10K 470nF BATT_PULS BATT_PULS
NM NM 10K 10pF
R24 R28 NM ADC_BATT
ADC_BATT
ADC_I ADC_I
10K NM 330K
C56 NM

1nF
NM

VCC3V

VCC_AVR5V TP41
VCC_AVR5V VCC5V VCC_SW Q1B VCC_RS485 VCC3V
RA3D TP40
IRF5810
5 4 Q20A U10 XC6202P33
TP73
B VCC9V_MOTOR
PUMT1 5 6 TP42 2 4 3 Vin Vout 1 B

GND
47k
2

Q16A TST Q1A C10

3
PUMT1 SW1 R14 IRF5810 R65 + C11 C12 R40

2
100nF C57 1K
Tactile VCC3V 10K 10K 100nF 220uF 100nF
1

RA2A R95 VCC5V

4

TP2
RA3B
120K 220K
7 2 Q21A Bleeder
8

D7 PUMT1
TP74 TP72 ADC_BATT Q16B Q18B P_EN Q18A resistor
47k TP38 PUMH4 PUMH4
TP PUMT1 TP78
BAS85 INTC0
7

RA2B
VCC3V TP36

120K
2

RA3A
TP75 TP63
TP SAMBA 8 1 Q21B
PUMT1
SW2
47k
1

5
3

RA2C RA2D C50 R96 R100 DIRA

TP76 BATT_PULS 6 3 1 Q17 6.8K
A
BC848B 120K 100pF 390K NM=NOT MOUNTED A
120K ON/OFF VCC3V
2

J23 J40
DRILL 4.7 mm DRILL 4.6 mm Title LEGO Engineer/constructer Date (YYYY/MM/DD)
J37 LEGO
RA3C
DRILL 4.6 mm MINDSTORMS NXT
Rechargeble Drafter Date (YYYY/MM/DD)
6 3 Q20B J38
Battery PUMT1 DRILL 4.6 mm LEGO
detect J13 J39 Project Number
47k DRILL 4.7 mm DRILL 4.6 mm Schematic Name
DIGID1 Hardware

Version Sheet Page Size

Steering for display PCB Screwholes I 2 of 4 A3
5 4 3 2 1
 5 4 3 2 1

MotorA TACHOA0 TACHOB0 TACHOC0 INTA0 INTA0

J1 VCC3V VCC3V VCC3V
MA0 VCC9V_MOTOR VCC3V VCC3V D IRA
1 DIRA
MA1 VCC3V
2 GND RA1C R1 R2 R3 MAIN1
3 TP43 TP45 TP47 MAIN1
POWERMA TP10 MAIN0 3 6 MAPWM TP11
4 TACHOA0 U12D 10K U12A 10K U12C 10K MAIN0

14

14

14
5 MAIN0
TACHOA1 U1 LB1836M 4.7k 74HC14 74HC14 74HC14
6 R87 MAPWM
1 VCC GND 14 MAPWM
Modular MBIN0 MCIN1 TP5 INTA0 D1 TP7 INTB0 D2 TP15 INTC0 D3

LB1836M
2 IN1 IN3 13 8 9 2 1 6 5
MB0 3 12 MC1 RA1D 1PS226 1PS226 1PS226
MotorB OUT1 OUT3 TP9 MAIN1 10K
4 Vs1 Vs2 11 4 5
J2 MB1 5 10 MC0 INTB0 INTB0

7
MB0 MBIN1 OUT2 OUT4 MCIN0 4.7k R4 C1 R5 C2 R6 C3
1 6 IN2 IN4 9
MB1 7 8 D IRB DIRB
2 GND GND Vcont 1MEG 100pF 1MEG 100pF 1MEG 100pF
3 POWERMB RA1A MBIN1
D MBIN1 D
4 TACHOB0 TP13 MBIN0 MBPWM TP14
5 1 8
TACHOB1 MBIN0
6 MBIN0
U2 LB1930M 4.7k
Modular VCC3V MBPWM

LB1930M
MBPWM
1 Vcc NC 10
MotorC 2 9 MA1 RA1B
J3 MAIN1 3
NC
IN1
OUT1
NC 8 TP12 MBIN1 2 7 MotorA MotorB MotorC
MC0 MAIN0 4 7 MA0 C40 INTC0 INTC0
1 MC1 IN2 OUT2 4.7k
2 5 S-GND P-GND 6
GND 100nF TACHOA1 TACHOB1 TACHOC1 D IRC DIRC
3 POWERMC R22 VCC3V
4 TACHOC0 TP18 MCIN0 MCPWM TP19 VCC3V VCC3V VCC3V VCC3V VCC3V MCIN1
5 MCIN1
TACHOC1
6 4.7K R10 R11 R12 MCIN0
TP44 TP46 TP48 MCIN0
Modular
U12E 10K U12F 10K U12B 10K MCPWM

14

14

14
MCPWM
VCC_RS485 R26 74HC14 74HC14 74HC14
TP17 MCIN1 R86
D30
TP6 D IRA 10 11 D4 TP8 D IRB 12 13 D5 TP16 D IRC 4 3 D6
4.7K 1PS226 1PS226 1PS226
10K
RSX301L-30

7
R7 C4 R8 C5 R9 C6
R106
1.8R 1MEG 100pF 1MEG 100pF 1MEG 100pF
2

Q8 1 TP88
BC857B
3

D8
LL4148

VCC3V
1

TP89 2 Q10
C SS8550 C
3

D24 DOA DOA

POWERMA TP79 TP49
BAS85 VCC_RS485 REA
REA
POWERMB
R105 R110 U3 ST485 DEA
DEA
1K + C61 POWERMC TP1 DOA 1 8
220uF REA RO VCC DIGIDI0 D IA
2 RE B 7 DIA
IPOWERA 10K TP3 DEA 3 6 DIGIDI1
DE A
4 DI GND 5
IPOWERB TP4 D IA

IPOWERC

IPOWERD TP80

VCC9V VCC9V VCC9V VCC9V

P_EN P_EN
R33 R37 R34 R38 R35 R39 R32 R36
39R
39R 10K 10K 39R 10K 39R 10K

Q6A I_ONA TP21 Q6B I_ONB TP25 Q4B I_ONC TP29 VCC5V Q4A I_OND TP33
VCC5V Q5A PUMH4 VCC5V Q7A PUMH4 VCC5V Q9A PUMH4 Q3A PUMH4
PUMT1 PUMT1 PUMT1 PUMT1
R45 VCC_AVR5V R46 VCC_AVR5V R47 VCC_AVR5V R44 VCC_AVR5V
Q5B Q7B Q9B R48 Q3B
R49 PUMT1 R50 PUMT1 R51 PUMT1 PUMT1
4.7K 4.7K 4.7K 10K 4.7K
10K 10K 10K
R52
J7 R53 TP56 J8 R54 TP55 J9 R55 TP54 J6 TP57
D12 D13 D14 D11
1 GND 1PS226 1 GND 1PS226 1 GND 1PS226 1 GND 1PS226
B 2 GND 1K 2 GND 1K 2 GND 1K 2 GND B
3 IPOWERA R56 3 IPOWERB R59 3 IPOWERC R58 3 IPOWERD 1K R57
4 DIGIAI0 ADC_A0 TP20 4 DIGIBI0 ADC_B0 TP24 4 DIGICI0 ADC_C0 TP28 4 DIGIDI0 ADC_D0 TP32 ADC_A0
5 5 5 5 ADC_A0
DIGIAI1 DIGIBI1 DIGICI1 DIGIDI1
6 1K 6 1K 6 1K 6 1K I_ONA I_ONA
Modular C65 Modular C66 Modular C67 Modular C68
DIGIA0 DIGIA0
47pF 47pF 47pF 47pF
DIGIA1
DIGIA1

VCC_RS485 VCC_RS485 VCC_RS485 VCC_RS485

ADC_B0 ADC_B0
VCC3V VCC3V VCC3V VCC3V I_ONB I_ONB
R116 R117 R118 R119 DIGIB0 DIGIB0
TP22 NM TP26 NM TP30 NM TP34 NM
82K 82K 82K 82K DIGIB1
DIGIB1
R60 R61 R63 R62
D15 DIGIA0 DIGIAI0 D16 DIGIB0 DIGIBI0 D18 DIGIC0 DIGICI0 D17 DIGID0 DIGIDI0
1PS226 1PS226 1PS226 BAT54S
4.7K 4.7K 4.7K 4.7K ADC_C0 ADC_C0
R18 C20 R68 C21 R73 C23 R103 C22 I_ONC I_ONC
1MEG 10pF 1MEG 10pF 1MEG 10pF 1MEG 10pF DIGIC0 DIGIC0
DIGIC1
DIGIC1

VCC_RS485 VCC_RS485 VCC_RS485 VCC_RS485

ADC_D0 ADC_D0
VCC3V VCC3V VCC3V VCC3V I_OND I_OND
R112 R113 R114 R115 DIGID0 DIGID0
TP23 NM TP27 NM TP31 NM TP35 NM
A 82K 82K 82K 82K DIGID1 A
DIGID1
R75 R76 R77 R74
D20 DIGIA1 DIGIAI1 D21 DIGIB1 DIGIBI1 D22 DIGIC1 DIGICI1 D19 DIGID1 DIGIDI1
1PS226 1PS226 1PS226 BAT54S
4.7K 4.7K 4.7K 4.7K NM=NOT MOUNTED
R66 C25 R72 C26 R102 C27 R104 C24
Title Engineer/constructer Date (YYYY/MM/DD)
1MEG 10pF 1MEG 10pF 1MEG 10pF 1MEG 10pF LEGO LEGO
MINDSTORMS NXT Drafter Date (YYYY/MM/DD)
LEGO
Project Number
Schematic Name
Hardware

Version Sheet Page Size

I 3 of 4 A2
5 4 3 2 1
 5 4 3 2 1

POWER BLOCK COMMUNICATION BLOCK

VCC5V_SW VCC_RS485
VCC9V

9V CURRENT GENERATOR
STEP-DOWN 5V
SENSER VOLTAGE VCC3V
9V SENSOR DDP, DDM
RS485
LDO 3.3V USB_DP_PULL_UP
FULL UART 4 WIRE
D PC_USB D

AT91SAM7S ARM RXD0

AT91SAM7S
DISPLAY VMBT_REQ TXD0
BT DEA REA
VMBT_STATE
BATTERY SUPPLY VCC5V
BTRST
SENSOR PULL-UP
SAMBA I2C

VCC9V_MOTOR DOA
RS 485
DIA
SPI HS PORT
BLUE TOOTH DEA REA
VCC_AVR5V POWER_EN FROM ATMEGA48(PB7)
MOTORDRIVER VCC9V

ADC_BATT
SPI
ATMEGA48
BUTTOM 0 - 3
ON/OFF
C C

5V LDO ATMEGA48 DISPLAY

SOUND VOLTAGE

ARM BLOCK AVR BLOCK ADC_A0

DIGIA0
ADC_B0
DIGIA1
AT91SAM7S OUTPUT ADC_C0
DIGIB0
INPUT
ATMEGA48 ADC_D0 INPUT
DIGIB1
OUTPUT
ION_A
DIGIC0
ION_B
B
DIGIC1 B

ION_C
DIGID0
ION_D
DIGID1
MAPWM
MAIN0
INTA
MAIN1
INTB
MBPWM
INTC
MBIN0
DIR_A MBIN1
DIR_B MCPWM
DIR_C MCIN0
USB_ADC MCIN1
ADC_I BATT_PULS
DIGID1_ADC BATT_ADC/SAMBA
A BUTTOM 0 A

SOUND BUTTOM 1 - 3 ADC

Title Engineer/constructer Date (YYYY/MM/DD)

LEGO LEGO
MINDSTORMS NXT Drafter Date (YYYY/MM/DD)
LEGO
Project Number
Schematic Name
Hardware

Version Sheet Page Size

I 4 of 4 A2
5 4 3 2 1