Eddyfi Technologies INUKTUN MINITRAC 8000 User manual

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

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 2 of 26
User Manual
Table of Contents
About This Manual........................................................................................................................................4
Description ....................................................................................................................................................4
Specifications............................................................................................................................................5
Certification...............................................................................................................................................6
Connector Pin-Out....................................................................................................................................6
Standard Tracks.................................................................................................................................6
High Voltage Tracks...........................................................................................................................6
Load and Speed Specifications................................................................................................................7
Basic Loading Specifications.................................................................................................................7
Influences on Loading............................................................................................................................7
Additional Payload..............................................................................................................................8
Inclines ...............................................................................................................................................8
Differential Steering............................................................................................................................9
Curved Geometry...............................................................................................................................9
Elevated Temperature & Thermal Shutdown...................................................................................10
Safety......................................................................................................................................................11
System Setup..............................................................................................................................................13
Mounting the Track.................................................................................................................................13
Standard...........................................................................................................................................13
Extended Length..............................................................................................................................14
Connector Handling................................................................................................................................15
SubConn Connector: Lubrication and Cleaning ..................................................................................15
Power Take-Off.......................................................................................................................................16
Belt Installation........................................................................................................................................17
Track with Spring Tensioner................................................................................................................17
Track with Manual Tensioner...............................................................................................................18
Block Tension and Alignment...........................................................................................................18
Track Extension Block ............................................................................................................................20

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 3 of 26
User Manual
Maintenance................................................................................................................................................21
Rinsing and Cleaning..............................................................................................................................21
Scheduled Maintenance and Servicing ..................................................................................................21
Daily.....................................................................................................................................................21
Weekly .................................................................................................................................................22
Monthly ................................................................................................................................................22
Checking the Oil...............................................................................................................................22
Filling the Oil.....................................................................................................................................23
Overhaul .................................................................................................................................................23
Parts and Repairs .......................................................................................................................................24
Ordering Parts/Customer Service...........................................................................................................24
Warranty Repairs....................................................................................................................................25
Factory Returns to Canada.....................................................................................................................25
Product/System Drawing Package Availability.......................................................................................25
Limited Warranty Policy ..............................................................................................................................26

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 4 of 26
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 is meant 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. Customers will be notified of any changes to their equipment.
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.
Description
The Inuktun Minitrac 8000™is a small, self-contained tractor module complete with its own electric motor
and drive train. The track may be powered directly from a DC input or include its own embedded drive
electronics. Minitracs are designed for harsh environments such as confined spaces, underwater, hot or
cold temperatures, mud and sand, mild radiation, and chemical solutions. Applications include storm and
sewer pipe inspection, Oil & Gas inspection (Onshore/Offshore), potable water pipe inspection, nuclear
facility inspection / waste cleanup and OEM / custom-built systems. Standard length Minitracs measure
420 x 100 x 84 mm (16.5 x 4.0 x 3.3 in), these can be fitted with an extension which increase track length
to 510 mm (20.1 in). Minitracs are made in three materials to meet application needs: aluminum, brass,
or stainless steel; and can have clutched or non-clutched drive wheels. In all versions, the final drive
power is delivered through a deep lug rubber track belt. Minitrac modules may be operated in pairs to
make a steerable platform or used in multiple pairs to make a steerable train. Tracks are available in two
voltage ranges: 36 –70 VDC and 180 –400 VDC.

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 5 of 26
User Manual
Specifications
Operating Voltage
Standard
36 –70 VDC
High Voltage
180 –400 VDC
Operating Power
225W Peak
Operating Current
Standard
6.3 A Peak
High Voltage
1.3 A Peak
Maximum Speed
6.4 m/min (20.9 fpm)
Pull Rating
See Basic Load Specifications below
Payload
Up to 70 kg (150 lb)
Operating Temp
0 ° –50 °C (32 ° –122 °F)
90 °C (195 °F) Maximum Internal
Storage Temperature
-20° –60 ºC (-4 –140 ºF)
Duty Cycle
In Water
100%
In Air
Dependent upon load and heat sinking
Communications
RS-485 Device Protocol
Feedback
Temperature, motor current, motor speed
Depth Rating
60 m (200 ft)
Weight
Standard Length
Aluminum
5.7 kg (12.5 lb)
Brass
12.2 kg (27 lb)
Stainless Steel
11.8 kg (26 lb)
Extended Length
Aluminum
7.2 kg (15.8 lb)
Brass
16 kg (35.3 lb)
Stainless Steel
15.4 kg (33.9 lb)
Lubrication
ISO 150 Food-grade Gear Oil

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 6 of 26
User Manual
Certification
The product is built in accordance with:
Connector Pin-Out
Standard Tracks
The Standard Minitrac 8000™ uses a 4-pin, low-profile Subconn LPBH4M connector. Contact Eddyfi
Technologies for details of the RS-485 control protocol.
Note: Pin-out is shown for the Bulkhead Connector on the track.
High Voltage Tracks
The High Voltage Minitrac 8000 uses a 5-pin, low-profile Subconn LPBH5M connector. Contact Eddyfi
Technologies for details of the RS-485 control protocol.
Note: Pin-out is shown for the Bulkhead Connector on the track.
Pin
Function
1
70 VDC (+)
2
70 VDC GND (-)
3
RS485A (+)
4
RS485B (-)
Pin
Function
1
400 VDC (+)
2
400 VDC GND (-)
3
RS485A (+)
4
RS485B (-)
5
Spare

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
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User Manual
Load and Speed Specifications
Basic Loading Specifications
The above diagram details the speed and loading specifications of the standard Minitrac 8000™. There
are three regions defining performance:
•Continuous Duty: Preferred continuous operating range.
•Short Term Operation: Operation permitted for several minutes.
•Stalled / Jammed Condition: Automatic limiting is engaged to protect the motor and gearing.
Do not operate the track in the stalled or jammed condition.
Influences on Loading
For a typical tracked vehicle there are multiple factors that can increase load and influence track
performance. These include the following and are detailed below:
•Additional Payload
•Inclines
•Effects of Differential Steering (skid steering with parallel tracks)
•Curved Geometry of a pipe
•Elevated Temperature / Poor Heat Sinking / Thermal Shut-Down

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 8 of 26
User Manual
Additional Payload
Additional Payload may be added to the track, but the expected pull performance must be de-rated as
per the calculation below. Additional payload also affects differential steering, inclines and curved pipe
geometry (see below).
Pull Reduction = 0.25 x Extra Weight
Inclines
Inclines cause the track to lift the vehicle weight against gravity and increase the track pulling load.
Calculate the incline load using the equation below. Magnetic downforce does not affect loading from
inclines —only forces from gravity. Note that the constant load from gravity becomes a significant factor
on vertical surfaces because the motor is working to resist the load even when the track is stopped.

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 9 of 26
User Manual
Differential Steering
Differential Steering means steering by varying the speed of two tracks such as with a tank or bulldozer.
During the steering process the tracks are dragged sideways in addition to forward / backward
movement. The sideways movement adds to the total track load and requires extra torque from the
motor. The greatest increase in loading occurs during a spot turn; the load being calculated as per the
figure below. A typical 41 kg (90 lb) VT150 MKII vehicle on a surface with friction coefficient µ = 0.5 will
experience an additional 12 kg (27 lb) load per track to execute the spot turn. The same maneuver done
on fine dry concrete or low-pile carpet will result in over 23 kg (50 lb) of extra motor load! When steering
on a vertical surface include only the magnetic down-force for the differential steering load calculation.
Curved Geometry
Curved Geometry inside a pipe will increase the payload on a track depending on the angle of contact
with the pipe. For nearly flat tracks the increase is small. For a contact angle of 60°, the load is doubled.
The same calculation is used for a track contacting the outside of a pipe. Include both vehicle weight
and magnetic downforce for this calculation.

Minitrac™
Document: UMDC013503.docm
Revision: A13
Created by: JSS
Date: 17 Nov 2019
3072929-A13
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 10 of 26
User Manual
Elevated Temperature & Thermal Shutdown
‘Duty Cycle’refers to the length of time a track can run before overheating. The duty cycle of the Minitrac
8000™track depends on:
•Track Material Thermal Conductivity (Aluminum, Brass = Good; Stainless = Poor)
•Ambient Temperature
•Track Load & Speed
•Wet / Dry Operation
•Heat Sinking
A track typically converts about 25% of the electrical input into motive mechanical power with the
remainder being converted into waste heat transferred to the environment outside the track. When run
continually at maximum power in a warm environment - up to 50 °C (120 °F), the tracks can heat up to
the maximum temperature within ½-hour. However, this does not represent normal operation. Typical
usage will include much starting and stopping for visual/NDT inspections and moderate loading for most
of a pipe run for pulling tether –so reaching the thermal limit of the track is not expected to be a common
operational concern. When tracks are bolted to a chassis, it further acts as a heat sink to help cool the
tracks.
When a tracks internal temperature reaches 90 °C (195 °F) it will automatically shut down and wait until
its internal temperature drops below 75 °C (170 °F) before restarting. If the tracks are operating
underwater, such as in a flooded pipe, heat transfer is excellent, and the duty cycle may be considered
continuous.
Note: Stainless steel tracks will require special consideration for cooling, as they
reach thermal shutdown sooner due to the extremely poor thermal conductivity of
the stainless steel itself.