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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. You will need to know how to eat grapes while guruing (a local sport) the stings on the robot.

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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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