Eddyfi Technologies Inuktun Versatrax 150 Analog User manual

Eddyfi Robotics Inc.
2569 Kenworth Road, Suite C
Nanaimo, BC, V9T 3M4
CANADA
+1.250.729.8080
[e-mail]
www.eddyfitechnologies.com
INUKTUN VERSATRAX 150™

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
Page 2 of 57
User Manual
Table of Contents
About This Manual........................................................................................................................................5
System Description.......................................................................................................................................5
Specifications............................................................................................................................................6
Certification...............................................................................................................................................7
Safety........................................................................................................................................................7
System Setup................................................................................................................................................9
Working Environment ...............................................................................................................................9
System Power...........................................................................................................................................9
Power Requirements .............................................................................................................................9
Set the Line Voltage.............................................................................................................................10
Generators / Inverters..........................................................................................................................10
Connections............................................................................................................................................11
Pre-Configured Control Rack...............................................................................................................11
Control System Connections –SD Video............................................................................................12
Control System Connections –HD Video............................................................................................12
Fiber Optic Tether................................................................................................................................13
Client Configured Rack........................................................................................................................14
Vehicle and Tether...............................................................................................................................15
Winch Installation....................................................................................................................................16
Portable Reel Setup................................................................................................................................16
Tether Handling ......................................................................................................................................17
Connector Handling................................................................................................................................17
SubConn Connector: Lubrication and Cleaning ..................................................................................18
Impulse Connector: Lubrication and Cleaning.....................................................................................18
System Installation..................................................................................................................................18
Vehicle Layout .....................................................................................................................................18
Vehicle Handling..................................................................................................................................19
Communication....................................................................................................................................19
Personnel Requirement.......................................................................................................................19

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
Page 3 of 57
User Manual
Vehicle Configuration..................................................................................................................................20
Parallel Vehicle.......................................................................................................................................20
Chassis Pipe Sizing.............................................................................................................................20
Powered Camera Raise.......................................................................................................................21
Minimum Bend Sizes...........................................................................................................................22
Spectrum 90™ Installation...................................................................................................................23
Spectrum 120HD™ Installation ...........................................................................................................25
Spectrum 120™ Bumper Bars.............................................................................................................25
Light Installation...................................................................................................................................26
Minitrac™ Installation...........................................................................................................................28
Track Height Extensions......................................................................................................................31
Spectrum™ Camera Extension ...........................................................................................................32
Rear Camera Installation.....................................................................................................................33
Advanced Accessories.........................................................................................................................34
Minitrac™ Length Extensions ..............................................................................................................34
Active Track Chassis Articulation ........................................................................................................34
Sonde...................................................................................................................................................35
Fiber Optic Tether................................................................................................................................36
Laser Scanner Mount...........................................................................................................................37
Odometry Module ................................................................................................................................38
Inline Vehicle...........................................................................................................................................40
Minitrac™ Installation...........................................................................................................................40
Spectrum 90™ Installation...................................................................................................................41
Guide Wheel Adjustment.....................................................................................................................41
Camera Height / Skid Adjustment........................................................................................................43
Rear Camera Installation.....................................................................................................................44
Operation.....................................................................................................................................................45
Pre-Operations Check ............................................................................................................................45
Post-Operations Check...........................................................................................................................46
ICON™ & ICON™ RPT ..........................................................................................................................46
Power-Up Sequence...............................................................................................................................46
Ground Fault Detection & Alarms...........................................................................................................47

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
Page 4 of 57
User Manual
Dealing With Obstacles ..........................................................................................................................48
Inspection Guidelines .............................................................................................................................48
Powered Winch Operation......................................................................................................................48
Vehicle Recovery....................................................................................................................................49
Emergency Recovery...........................................................................................................................50
Troubleshooting ..........................................................................................................................................50
Camera Control Problems......................................................................................................................50
Video Problems.......................................................................................................................................51
Vehicle Problems....................................................................................................................................51
Winch Problems......................................................................................................................................52
Maintenance................................................................................................................................................53
Rinsing and Cleaning..............................................................................................................................53
Fuse Replacement..................................................................................................................................53
Minitrac™ Maintenance ..........................................................................................................................53
Camera Maintenance .............................................................................................................................53
Tether Re-termination.............................................................................................................................54
Parts and Repairs .......................................................................................................................................54
Ordering Parts/Customer Service...........................................................................................................54
Warranty Repairs....................................................................................................................................55
Factory Returns to Canada.....................................................................................................................55
Product/System Drawing Package Availability.......................................................................................55
Limited Warranty Policy ..............................................................................................................................56

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
Page 5 of 57
User Manual
About This Manual
This manual has been prepared to assist you in the operation and maintenance of your Eddyfi
Technologies’ Inuktun equipment. Correct and prudent operation rests with the operator who must
thoroughly understand the operation, maintenance, service and job requirements. The specifications and
information in this manual are current at the time of printing.
This product is continually being updated and improved. Therefore, this manual endeavors to explain and
define the functionality of the product. Furthermore, schematics or pictorials and detailed functionality
may differ slightly from what is described in this manual.
Eddyfi Technologies reserves the right to change and/or amend these specifications at any time without
notice.
Information in this manual does not necessarily replace specific regulations, codes, standards, or
requirements of others such as government regulations.
This manual is copyright © 2019 by Eddyfi Robotics Inc. All rights reserved.
System Description
The Inuktun Versatrax 150™ is a system of pipeline video inspection vehicles based on the Minitrac™ 8000
crawler. Using In-Line and Parallel chassis’, the system navigates pipelines from 150 –900 mm (6 –36 in)
internal diameter with the camera centered, with an infinite size range with the camera non-centered. As
such, the parallel chassis is often used for inspections over industrial floor space, pools and other harsh
environments as well.
The inspection system has been manufactured with the hazards and demands of pipe inspection in mind.
The rugged dual tracks permit pipe penetration up to 1,000 m (3,300 ft), with extended range possible using
an optional fiber optic tether.
All Versatrax hardware can be used dry, underwater, or in dirty, muddy conditions. The rugged design
ensures a long service life and helps protect the vehicle from damage during normal use.
Typical applications include inspection of:
•Sewer and storm drains
•Hydroelectric pipe and infrastructure
•Steam headers
•Tanks and pressure vessels
•Oil and gas refineries and pipelines
•Pulp and paper mills

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
Page 6 of 57
User Manual
Specifications
Min Vehicle
Dimensions
Parallel
Ø300 x 1050 mm (Ø12 x 41.5 in)
Inline
Ø150 x 2000 mm (Ø6 x 79 in)
Vehicle
Weight1
Parallel
45 kg (100 lb)
Inline
45 kg (100 lb)
Depth Rating
60 m (200 ft)
Pipe Size
Range2
Parallel
Camera Centered
305 –610 mm (12 –24 in)
Camera Centered with Track Extension
460 –700 mm (18 –28 in)
Camera not Centered
610 mm (24 in) –Flat
Inline
Camera Centered with Skids
150 –305 mm (6 –12 in)
Maximum Tether Length3
1,000 m (3,300 ft)
Tracks
2x Minitracs™8000
Camera
Front
Standard
Spectrum 90™
Option
Spectrum 120HD™
Rear
Standard
Sapphire™
Lights
(Parallel Only)
2x 901 Lights
Reel
Standard
Portable tether reel with payout encoder
Option
High capacity powered winch
Parallel Chassis Optional Components
Manual Camera Raise
Weight Kit –25.5 kg (56 lb)
Track Extension Kit
Camera Extension Kit
Powered Active Track Angle Adjustment
Power Requirements
100 –240 VAC 50/60Hz, 1.9 –3.1 kW
Operating Temperature
0 –50 ºC (32 –122 ºF)
Storage Temperature
-20° –60 ºC (-4 –140 ºF)
1
Weights may vary depending on optional components
2Specified pipe sizes are internal diameters
3Actual travel distance may be decreased depending on inspection geometry (traction and number of bends)

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
Page 7 of 57
User Manual
Certification
The Inuktun Versatrax 150™ system is built in accordance with the Low Voltage Directive 2006/95/EC,
Machinery Directive 2006/42/EC, and Electromagnetic Compatibility Directive 2004/108/EC.
Safety
In order to be able to use this product properly and safely, every user must first read these operating
instructions and observe the safety instructions contained therein. Take care of these operating
instructions and keep them in a place where they can be accessed by everyone. Untrained personnel
should not handle or operate this equipment.
CAUTION: Failure to follow these safety instructions may result in injury or
equipment damage.
This system includes some specific devices that have their own User Manuals. Instructions on those
manuals must be also read before using the system.
WARNING: High Voltage
The tether carries 400 VDC to the rear harness block, and the Minitrac™ whips
carry 400 VDC from the harness block to the tracks. Always Keep the tether
capped when not installed on the vehicle. Follow the guidelines for preventing
tether damage.
400 VDC can cause serious injury or death. Do not operate with a damaged
tether or Minitrac™ whip. Do not operate the system with damaged wires.
Damaged cabling poses a shock hazard. Repair damaged cabling before
operating the vehicle. A short circuit may also damage the controller, cameras, or
any attached equipment.
Disconnect the power source before servicing the product; otherwise, damage or
fatal injury may result.
The power supply is equipped with a ground fault interrupt circuit. Do not cheat or
bypass the ground fault interrupt circuit. Do not power the equipment from a
source other than the Eddyfi Technologies provided power supply.

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
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User Manual
WARNING: Intense Optical Radiation - The Versatrax 150™ camera lights and
901 auxiliary lights are extremely bright and can cause temporary flash blindness.
Never look directly at the lights, or even from a shallow angle. Use a welding filter
(shade #8 or higher) if inspecting the LEDs.
CAUTION: Class II Laser: The Spectrum 90/120™camera may
be equipped with laser lines. Do not intentionally stare into the
beam. Typically, Class II relies on the blink reflex to limit exposure
to no more than ¼-second. Intentionally staring into the beam can
cause eye injury.
•When performing maintenance or functional checks of the
lasers and camera lights, take precautions to protect
nearby personnel from unintended exposure which could
be temporarily blinding.
•Observe safe lifting and handling practices. Component parts of the Inuktun Versatrax 150™
system are heavier than the recommended lifting load for a single person. Two people are
recommended for lifting the vehicle.
•Never drop the vehicle. Although built tough, the vehicle is heavy and can suffer structural
damage when dropped.
•Prevent impact to the front of the 901 lights, Spectrum 90/120™ camera and Inuktun Sapphire™
cameras as they can suffer damage.
•Eddyfi equipment is used in many varied environments from hot/dry to confined spaces to deep
underwater. Such diverse environmental risks must be addressed by the operators who are
trained to work in such surroundings. As such, the operators are responsible to determine safe
site setup, work procedures and appropriate personal protective equipment (PPE) for setup and
operation of the equipment.
WARNING: Trip Hazard - Never stand on the tether. The vehicle and winch are
strong enough to pull it out from underneath you and cause you to fall. Standing
on the tether may also cause damage to the internal conductors and decrease the
life of the protective jacket.
WARNING: High Temperature - The camera head, 901 lights and harness block
may become extremely hot during operation. Always wear protective gloves when
handling these parts of the vehicle after they have been in use. Allow a cool-down
period before handling without gloves.
WARNING: Spark Hazard - Under no circumstances should this equipment be
used in a potentially explosive atmosphere

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
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User Manual
WARNING: Mechanical Pinch Hazard –Rotating or moving components can
draw fingers into a pinch position. Do not handle the vehicle while mobile parts are
running, turn off power or disconnect the tether while reconfiguring or maintaining
the vehicle.
System Setup
Working Environment
The control system (interface box, power supply, and Control computer) is to be used in a dry, covered
environment only. These components are not waterproof. Keep all cords and cables away from water.
The tether and vehicle are depth rated to 60 m (200 ft) of water. The tether connector is a wet-mate type
which may be wet when plugged in but cannot be plugged in underwater. Keep the tether connector
capped with a dummy plug when not connected to the vehicle to help keep out dirt. The tracks are
tolerant to sandy and muddy conditions, although this decreases seal life. The vehicle may also be
operated in dry or dusty environments.
The portable reel and winch are splash resistant only. Refer to the reel manual.
To maximize component life and minimize deployment time it is recommended that the vehicle and tether
be cleaned after use and the entire system stored in a dry, dust free, location.
System storage temperatures are between -20 ˚C –60 ˚C (-4 ˚F – 140 ˚F)
System Power
Power Requirements
The power requirements given below are maximums for a fully configured system with cable reel. For
use with 110 VAC source, a fully configured Versatrax150™ system requires three independent standard
15 A circuits for power, or one 20 A and one 15 A circuits as follows.
Power
Circuit
Control Computer
500W
110 VAC @ 15 A
110 VAC @ 20 A
Monitor
80W
Power Supply / Interface Box
1300W
110 VAC @ 15 A
Powered Winch
1200W
110 VAC @ 15 A
110 VAC @ 15 A
System Total
3080 W

Versatrax 150™
Document: UMDW014058.docm
Revision: A03
Created by: KW
Date: 10 Oct 2019
3075415-A03
Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm
Page 10 of 57
User Manual
Set the Line Voltage
Before powering on the Versatrax 150™ system, it is important to check that the input voltage settings
are correct - an incorrect voltage setting will damage the system power supply and the winch controller.
When installing the system in a new location always check the line voltage.
•Monitor: Universal - no action required.
•Computer: Universal - no action required.
•Interface Box: Universal - no action required.
•Power Supply: Set the line voltage switch to 115/230VAC and change fuse.
oFor 115 VAC use 15 A MDA type fuse.
oFor 230 VAC use 10 A MDA type fuse.
•Winch: Jumpers must be set inside the hand-held controller to switch between 115 VAC and
230 VAC. Refer to the winch manual for instructions.
WARNING: Line Voltage Select –Failing to select the proper line voltage on the
power supply and winch will result in equipment damage.
Generators / Inverters
If powering the system from a generator or inverter, refer to that unit’s operating manual for
recommendations on continuous and peak load ratings. These power sources may apply a reduced
output rating based on electrical load and environmental temperature. Remember to include the power
needs of all other connected devices (external monitors, recording devices, lighting, etc.) when selecting
a generator or inverter.