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Guide 4 - Wire Routing

Written By: OpenROV (Sofar)
  • Comments: 50
  • Favorites: 0
  • Completions: 38

Difficulty

Moderate

Steps

181

Time Required

05:00:00

Sections

1

Flags

0

Introduction

You will gain more soldering experience while connecting all of the motors. We will also introduce the use of waterproof heatshrink.

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  2. Loosen these two set screws but do not completely remove them.

    • Loosen these two set screws but do not completely remove them.

    • Remove the mount from the motor.

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  3. For this section it will be helpful to work over a paper towel or cloth in case you drop screws or nuts.

    • For this section it will be helpful to work over a paper towel or cloth in case you drop screws or nuts.

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  4. Notice the notch in the mount is facing up in the picture.

    • Notice the notch in the mount is facing up in the picture.

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  5. Make sure to put a lock washer behind the nut.

    • Make sure to put a lock washer behind the nut.

    • Only three of the screw holes will line up.

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  6. Notice which side the notch is on.

    • Notice which side the notch is on.

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  9. There are two different types of insulation on the motors. You might have a combination of both types so check each motor.

    • There are two different types of insulation on the motors. You might have a combination of both types so check each motor.

    • The first type has writing on the insulation and is sealed on the inside. No further preparation work is needed. Skip to the Mounting Propellers section.

    • The second type has no writing on the insulation and is not sealed on the inside. There are a few preparation steps that must be completed in order to ensure a waterproof connection.

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  11. Using your fingernails you can remove the insulation a little at a time. You need to remove enough to expose the enamel.

    • Using your fingernails you can remove the insulation a little at a time. You need to remove enough to expose the enamel.

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  13. Copper wire tinned with solder (silver in color). Not safe from water.

    • Copper wire tinned with solder (silver in color). Not safe from water.

    • Bare wire (dull copper). Also not safe from water.

    • Enamel coated wire (shiny, wet-looking copper). Safe from water.

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  14. Peel back the insulation until you can see the enamel coating for each of the wires.

    • Peel back the insulation until you can see the enamel coating for each of the wires.

    • The amount you have to peel back will vary.

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  15. Cut off some of the tinned wire, but not all of it.

    • Cut off some of the tinned wire, but not all of it.

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  16. Complete this process for all three wires and for all motors of this type.

    • Complete this process for all three wires and for all motors of this type.

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  19. Remove the existing nuts and washers from the threaded rod on all three motor bells.

    • Remove the existing nuts and washers from the threaded rod on all three motor bells.

    • Using a set of pliers, hold stationary the locknut (with the nylon insert) and rotate the motor bell to thread the nut until it protrudes out the other side.

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  20. Take off the nut, then put it back on backwards, nylon side first.

    • Take off the nut, then put it back on backwards, nylon side first.

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  21. Tighten the propeller very snugly.

    • Tighten the propeller very snugly.

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  22. Back the locknut up against the propeller while holding the bell in one hand.

    • Back the locknut up against the propeller while holding the bell in one hand.

    • Tighten this very snugly.

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  23. Complete for all three motors. Note that there are three different types of propellers.

    • Complete for all three motors. Note that there are three different types of propellers.

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  25. Use the length of the frame to measure out a length of the mesh covering.

    • Use the length of the frame to measure out a length of the mesh covering.

    • Keep the extra as you will need it later.

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  28. Push the sleeve all the way over the wires and towards the endcap.

    • Push the sleeve all the way over the wires and towards the endcap.

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  30. Use electrical tape to cover the frayed end and hold the mesh in place.

    • Use electrical tape to cover the frayed end and hold the mesh in place.

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  31. Remove the tape from the end of the wires.

    • Remove the tape from the end of the wires.

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  32. Stretch the mesh up and use electrical tape to hold the other side in place.

    • Stretch the mesh up and use electrical tape to hold the other side in place.

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  33. The flat sides of the endcap should be against the main structure.

    • The flat sides of the endcap should be against the main structure.

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  35. Separate out these wires.

    • Separate out these wires.

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  37. Wire bundle going towards middle of the frame.

    • Wire bundle going towards middle of the frame.

    • Light green wires are going straight up.

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  38. Tighten the ziptie.

    • Tighten the ziptie.

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  43. Make sure to melt the heatshrink completely so the adhesive on the inside completely melts and comes out both ends.

    • Make sure to melt the heatshrink completely so the adhesive on the inside completely melts and comes out both ends.

    • These 4 wires are the I2C wires to connect external sensors to your ROV including our IMU/Depth Sensor.

    • The heatshrink at the end is to protect the wires from the water until you need to use them.

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  45. Light green wires going straight up.

    • Light green wires going straight up.

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  47. The horizontal propellers are counterrotating, so the pitch is in a different direction for each one.

    • The horizontal propellers are counterrotating, so the pitch is in a different direction for each one.

    • Make sure to grab the correct motor.

    • The reason the pitch is different is to keep the vehicle going straight and not veering to one side.

    • A tutorial on LH vs. RH propellers

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  48. There are two different shades of green wires.

    • There are two different shades of green wires.

    • Motor wires (3x).

    • Battery wires (2x).

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  49. The three wires from the motor will go through the ROV frame.

    • The three wires from the motor will go through the ROV frame.

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  53. Use caution when soldering electronic components. The temperatures are 500 degrees and higher. Eye protection is required.

    • Use caution when soldering electronic components. The temperatures are 500 degrees and higher. Eye protection is required.

    • It does not matter which colored wire from the motor goes to which green wire from the DB-25 connector.

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  54. Notice that the enamel is showing.

    • Notice that the enamel is showing.

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  56. Make sure the inside lining is completely melted and oozes out each end.

    • Make sure the inside lining is completely melted and oozes out each end.

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  57. Make sure to tighten both screws.

    • Make sure to tighten both screws.

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  64. It does not matter which colored wire from the motor goes to which blue wire from the DB-25 connector.

    • It does not matter which colored wire from the motor goes to which blue wire from the DB-25 connector.

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  68. Make sure to tighten both screws.

    • Make sure to tighten both screws.

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  70. Note the pitch direction of the propeller.

    • Note the pitch direction of the propeller.

    • The horizontal propellers are counterrotating, so the pitch is in a different direction for each one.

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  74. It does not matter which colored wire from the motor goes to which red wire from the DB-25 connector.

    • It does not matter which colored wire from the motor goes to which red wire from the DB-25 connector.

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  77. Make sure to tighten both screws.

    • Make sure to tighten both screws.

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  79. Use the ziptie to secure all the wires.

    • Use the ziptie to secure all the wires.

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  87. You should have 6 auxiliary wires on this side. Ensure that you have only 6 wires.

    • You should have 6 auxiliary wires on this side. Ensure that you have only 6 wires.

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  91. Make sure to melt the heatshrink completely so the adhesive on the inside completely melts and comes out both ends.

    • Make sure to melt the heatshrink completely so the adhesive on the inside completely melts and comes out both ends.

    • These auxiliary wires are to connect external components to the ROV.

    • The purple wires are connected to a power PWM channel.

    • The white wires with the stripe are connected to a servo channel.

    • The plain white wire can be user defined.

    • The heatshrink at the end is to protect the wires from the water until you need to use them.

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  93. Cut off the ends of the zipties. There are 6 in total.

    • Cut off the ends of the zipties. There are 6 in total.

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  97. Peel off the paper backing.

    • Peel off the paper backing.

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  98. When working with acrylic cement it is recommended that you wear gloves, safety glasses, and work in a ventilated area.

    • When working with acrylic cement it is recommended that you wear gloves, safety glasses, and work in a ventilated area.

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  100. Use superglue.

    • Use superglue.

    • When working with cyanoacrylate (super glue) it is recommended that you wear gloves, safety glasses, and work in a ventilated area.

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  103. Apply pressure to the outside ring so it is flush with the front of the tube.

    • Apply pressure to the outside ring so it is flush with the front of the tube.

    • Don't let this sit in this position to dry or it will become stuck to the paper towel.

    • If any glue got on the inside of the tube, wipe it off.

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  107. Use the opposite side motor to measure the length.

    • Use the opposite side motor to measure the length.

    • Cut only the wire with the black stripe.

    • Do not cut the solid orange wire.

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  121. Do your best to make these parts concentric.

    • Do your best to make these parts concentric.

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  123. Make sure the wire goes through the bigger of the two holes.

    • Make sure the wire goes through the bigger of the two holes.

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  129. If the battery tube is a little tight you can sand the inside corner to debur the edge.

    • If the battery tube is a little tight you can sand the inside corner to debur the edge.

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  132. Make sure cement is the entire way around.

    • Make sure cement is the entire way around.

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  135. Use the center of the opposite motor for your measured length.

    • Use the center of the opposite motor for your measured length.

    • Cut only the wire with the black stripe.

    • Do not cut the solid green wire.

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  139. Bend towards the same side as the bump.

    • Bend towards the same side as the bump.

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  143. Do your best to make these parts concentric.

    • Do your best to make these parts concentric.

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  147. Some pressure will be needed in order to push the back side in the battery tube.

    • Some pressure will be needed in order to push the back side in the battery tube.

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