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  1. First set up wires accordingly to the IMU, refer to image 1. Red/gray to 3.3v, black/gray to GND, green/gray to SCL, and white/gray to SDA. Have the wires go through the top of the board and solder on the bottom side. Clip the excess wires.
    • First set up wires accordingly to the IMU, refer to image 1. Red/gray to 3.3v, black/gray to GND, green/gray to SCL, and white/gray to SDA.

    • Have the wires go through the top of the board and solder on the bottom side.

    • Clip the excess wires.

    • Wear safety glasses when clipping excess wires.

  2. Peel off the backing on the two acrylic pieces shown in image 1. With gloves, acrylic cement the thicker piece on top of the thinner piece.
    • Peel off the backing on the two acrylic pieces shown in image 1.

    • With gloves, acrylic cement the thicker piece on top of the thinner piece.

  3. Start the epoxy process by applying some to the bottom surface. This will ensure there is no air trapped under the electronics board. Insert the IMU board into the epoxy. Insert the IMU board into the epoxy.
    • Start the epoxy process by applying some to the bottom surface. This will ensure there is no air trapped under the electronics board.

    • Insert the IMU board into the epoxy.

  4. With a piece of tape, tape down the wires to the acrylic piece as show in image 2. Keep wires coming out of the board straight or the final piece won't be able to fit. Make sure the entire board is flush to the acrylic.
    • With a piece of tape, tape down the wires to the acrylic piece as show in image 2.

    • Keep wires coming out of the board straight or the final piece won't be able to fit.

    • Make sure the entire board is flush to the acrylic.

  5. Epoxy the board onto the acrylic. Cover the board but DO NOT cover the white sensor. Refer to image 2. Let the epoxy cure for 4-6 hours.
    • Epoxy the board onto the acrylic.

    • Cover the board but DO NOT cover the white sensor. Refer to image 2.

    • Let the epoxy cure for 4-6 hours.

  6. On your ROV, remove the polypro fin. Also remove one side of both of your threaded rods.
    • On your ROV, remove the polypro fin.

    • Also remove one side of both of your threaded rods.

  7. Pull out the IMU wires from your ROV. Should be tucked on the starboard side of your wire bundle. Cut off the heat shrink, and strip the wires. Cut off the heat shrink, and strip the wires.
    • Pull out the IMU wires from your ROV. Should be tucked on the starboard side of your wire bundle.

    • Cut off the heat shrink, and strip the wires.

  8. Once the epoxy has cured on the IMU, thread the wires through the third piece of acrylic. Refer to image 1. Acrylic cement the pieces together. Refer to image 2.
    • Once the epoxy has cured on the IMU, thread the wires through the third piece of acrylic. Refer to image 1.

    • Acrylic cement the pieces together. Refer to image 2.

  9. Measure out the IMU wires to the stripped wires on the ROV from the starboard side of the acrylic structure. Refer to image 1. Make sure that the wires will not get in the way of the spinning propeller.
    • Measure out the IMU wires to the stripped wires on the ROV from the starboard side of the acrylic structure. Refer to image 1.

    • Make sure that the wires will not get in the way of the spinning propeller.

    • Clip the wires at that estimated length.

  10. Clip 4 pieces of heat shrink and place on the IMU wires. Clip 4 pieces of heat shrink and place on the IMU wires.
    • Clip 4 pieces of heat shrink and place on the IMU wires.

  11. Solder on the IMU wires to the ROV wires. Make sure the wires you are soldering together match in color. After you have soldered all 4, slide the heat shrink over the solder joints and use the heat gun on them. Ensure it is completely sealed by heating it till glue protrudes from the ends.
    • Solder on the IMU wires to the ROV wires. Make sure the wires you are soldering together match in color.

    • After you have soldered all 4, slide the heat shrink over the solder joints and use the heat gun on them. Ensure it is completely sealed by heating it till glue protrudes from the ends.

  12. Apply super glue to the bottom of the IMU and place on the starboard side of the acrylic structure handle. Apply super glue to the bottom of the IMU and place on the starboard side of the acrylic structure handle.
    • Apply super glue to the bottom of the IMU and place on the starboard side of the acrylic structure handle.

Finish Line

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OpenROV (Sofar)

Member since: 09/28/2013

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3 Comments

Hi all!!

A quick bit of advice!!

When potting the sensor.. make sure you keep pressing the PCB into the resin.. one end of one lifted!!

So its not dead straight!!

I'd also hang fire on super gluing it until you have checked the live telemetry readings to check it mounted level!!

Also there really should be a note earlier in the construction asking you to add the PCB whilst looming in the earlier stages.. sales you having to reloom it and take it all apart again!!

Other than that.. just awesome!!

This upgrade is a must for anyone buying this cool bit of kit!! :)

bounceyball - Reply

So where it says "Solder on the IMU wires to the ROV wires. Make sure the wires you are soldering together match in color" all f the wires on my rov are a flat grey. My IMU is potted and I am just working on getting it soldered on but don't want to have to trace wires all the way back if I don't have to! Please Help!

Aaron - Reply

My IMU pieces bag has only two acrilic pieces. I havenĀ“t got the third piece so i would like knowing if this piece is essential to use the IMU wiht this third piece (reference in step 8).

Ignacio de la Cotera - Reply

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