OpenROV
/
/

Site Navigation

Your Account

Choose Language

This guide has more recent changes. Switch to the latest unverified version.

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.

  1. |

    • |

    Edit

  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.

    Edit

  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.

    Edit

  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.

    Edit

  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.

    Edit

  6. Notice which side the notch is on.

    • Notice which side the notch is on.

    Edit

  7. |

    • |

    Edit

  8. |

    • |

    Edit

  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.

    Edit

  10. |

    • |

    Edit

  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.

    Edit

  12. |

    • |

    Edit

  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.

    Edit

  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.

    Edit

  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.

    Edit

  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.

    Edit

  17. |

    • |

    Edit

  18. |

    • |

    Edit

  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.

    Edit

  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.

    Edit

  21. Tighten the propeller very snugly.

    • Tighten the propeller very snugly.

    Edit

  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.

    Edit

  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.

    Edit

  24. |

    • |

    Edit

  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.

    Edit

  26. |

    • |

    Edit

  27. |

    • |

    Edit

  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.

    Edit

  29. |

    • |

    Edit

  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.

    Edit

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

    • Remove the tape from the end of the wires.

    Edit

  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.

    Edit

  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.

    Edit

  34. |

    • |

    Edit

  35. Separate out these wires.

    • Separate out these wires.

    Edit

  36. |

    • |

    Edit

  37. Wire bundle going towards middle of the frame.

    • Wire bundle going towards middle of the frame.

    • Light green wires are going straight up.

    Edit

  38. Tighten the ziptie.

    • Tighten the ziptie.

    Edit

  39. |

    • |

    Edit

  40. |

    • |

    Edit

  41. |

    • |

    Edit

  42. |

    • |

    Edit

  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.

    Edit

  44. |

    • |

    Edit

  45. Light green wires going straight up.

    • Light green wires going straight up.

    Edit

  46. |

    • |

    Edit

  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

    Edit

  48. There are two different shades of green wires.

    • There are two different shades of green wires.

    • Motor wires (3x).

    • Battery wires (2x).

    Edit

  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.

    Edit

  50. |

    • |

    Edit

  51. |

    • |

    Edit

  52. |

    • |

    Edit

  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.

    Edit

  54. Notice that the enamel is showing.

    • Notice that the enamel is showing.

    Edit

  55. |

    • |

    Edit

  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.

    Edit

  57. Make sure to tighten both screws.

    • Make sure to tighten both screws.

    Edit

  58. |

    • |

    Edit

  59. |

    • |

    Edit

  60. |

    • |

    Edit

  61. |

    • |

    Edit

  63. |

    • |

    Edit

  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.

    Edit

  65. |

    • |

    Edit

  66. |

    • |

    Edit

  67. |

    • |

    Edit

  68. Make sure to tighten both screws.

    • Make sure to tighten both screws.

    Edit

  69. |

    • |

    Edit

  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.

    Edit

  71. |

    • |

    Edit

  72. |

    • |

    Edit

  73. |

    • |

    Edit

  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.

    Edit

  75. |

    • |

    Edit

  76. |

    • |

    Edit

  77. Make sure to tighten both screws.

    • Make sure to tighten both screws.

    Edit

  78. |

    • |

    Edit

  79. Use the ziptie to secure all the wires.

    • Use the ziptie to secure all the wires.

    Edit

  80. |

    • |

    Edit

  81. |

    • |

    Edit

  82. |

    • |

    Edit

  83. |

    • |

    Edit

  84. |

    • |

    Edit

  85. |

    • |

    Edit

  86. |

    • |

    Edit

  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.

    Edit

  88. |

    • |

    Edit

  89. |

    • |

    Edit

  90. |

    • |

    Edit

  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.

    Edit

  92. |

    • |

    Edit

  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.

    Edit

  94. |

    • |

    Edit

  95. |

    • |

    Edit

  96. |

    • |

    Edit

  97. Peel off the paper backing.

    • Peel off the paper backing.

    Edit

  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.

    Edit

  99. |

    • |

    Edit

  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.

    Edit

  101. |

    • |

    Edit

  102. |

    • |

    Edit

  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.

    Edit

  104. |

    • |

    Edit

  105. |

    • |

    Edit

  106. |

    • |

    Edit

  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.

    Edit

  108. |

    • |

    Edit

  109. |

    • |

    Edit

  110. |

    • |

    Edit

  111. |

    • |

    Edit

  112. |

    • |

    Edit

  113. |

    • |

    Edit

  114. |

    • |

    Edit

  115. |

    • |

    Edit

  116. |

    • |

    Edit

  117. |

    • |

    Edit

  118. |

    • |

    Edit

  119. |

    • |

    Edit

  120. |

    • |

    Edit

  121. Do your best to make these parts concentric.

    • Do your best to make these parts concentric.

    Edit

  122. |

    • |

    Edit

  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.

    Edit

  124. |

    • |

    Edit

  125. |

    • |

    Edit

  126. |

    • |

    Edit

  127. |

    • |

    Edit

  128. |

    • |

    Edit

  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.

    Edit

  130. |

    • |

    Edit

  131. |

    • |

    Edit

  132. Make sure cement is the entire way around.

    • Make sure cement is the entire way around.

    Edit

  133. |

    • |

    Edit

  134. |

    • |

    Edit

  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.

    Edit

  136. |

    • |

    Edit

  137. |

    • |

    Edit

  138. |

    • |

    Edit

  139. Bend towards the same side as the bump.

    • Bend towards the same side as the bump.

    Edit

  140. |

    • |

    Edit

  141. |

    • |

    Edit

  142. |

    • |

    Edit

  143. Do your best to make these parts concentric.

    • Do your best to make these parts concentric.

    Edit

  144. |

    • |

    Edit

  145. |

    • |

    Edit

  146. |

    • |

    Edit

  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.

    Edit

  148. Make sure cement is the entire way around.

    • Make sure cement is the entire way around.

    Edit

  149. |

    • |

    Edit

  150. |

    • |

    Edit

  151. |

    • |

    Edit

  152. |

    • |

    Edit

  153. |

    • |

    Edit

  154. |

    • |

    Edit

  155. |

    • |

    Edit

  156. |

    • |

    Edit

  157. |

    • |

    Edit

  158. |

    • |

    Edit