Eddyfi Technologies INUKTUN MINITRAC 8000 User manual

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

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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

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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

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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.

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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

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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

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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

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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.

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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.

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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.

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User Manual
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.
CAUTION: Failure to follow these safety instructions may result in injury or
equipment damage.
WARNING: High Voltage
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 Inuktun provided power supply.
CAUTION: High Temperature. Under rated operating conditions this track can
become very hot, up to 80 °C (175 °F).
WARNING: Spark Hazard - Under no circumstances should this equipment be
used in a potentially explosive atmosphere.
•The Minitrac 8000 is an industrial product. All personnel operating or maintaining this equipment
must be competently trained.
•There are no user serviceable parts inside. This product may be serviced only by qualified
technicians or trained personnel.
•Eddyfi equipment is used in many varied environments from hot/dry to confined spaces to deep
underwater. Such diverse environment risks must be addressed by the operators who are trained
to work in such surroundings. As such, the operator is responsible to determine safe site setup
and appropriate procedures for operation and maintenance of the equipment.
•Appropriate personal protective equipment (PPE) must be worn while operating and maintaining
the equipment.
•Do not use the product or any component exposed to pressures higher than the rated working
pressure.

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User Manual
In addition, observe the following precautions when cleaning or servicing the Minitrac 8000™
•Do not operate the track with a damaged connector or cable. Inspect connectors and cables
regularly for damage.
•Avoid creating a pinching hazard when designing a vehicle based on these tracks.
•Lay the track on its side if you are powering it up on the workbench.
•DC-Controlled tracks (without internal driver) must be protected by current limiting either by fuse
or electronically by the power supply. Current limiting and fuses are included standard with
Inuktun system controllers.
Call the Eddyfi Technologies Service department for assistance or service if needed.

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User Manual
System Setup
Mounting the Track
Standard
Overall dimensions for mounting the standard Minitrac 8000™are shown below. The pattern of 6x M6
mounting holes is repeated on both sides. Maximum screw penetration in the side plate is 12 mm. Longer
screws will bottom out or bind against the idler wheel.

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User Manual
Extended Length
Overall dimensions for mounting the extended length Minitrac 8000™ are shown below. The pattern of 6x
M6 mounting holes is repeated on both sides. Maximum screw penetration in the side plate is 12 mm.
Longer screws will bottom out or bind against the idler wheel. Manual tensioning blocks may be required
for Extended Length tracks in certain conditions.

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User Manual
Connector Handling
Connectors are an essential part of system reliability. They should be properly maintained and cared for
to ensure long life and reliability. It is recommended to follow these steps to help prevent damage and
increase the life of connectors.
•Always put the cap back on the tether bulkhead when the tether is disconnected
•Always inspect the end of the connector prior to engaging
•Never plug in a dirty or damaged connector
•Visually align key-ways or locating pins prior to engaging the connector
•Always fully engage or tighten the connector
•Secure locking collars finger tight
•Install dummy plugs on unused connectors
•Disconnect by pulling straight, not on an angle
•Do not pull on the cable to disengage the connector
IMPORTANT: Never “Hot Plug” any connector, this will result in internal damage to the
electronics. Power down the system prior to connecting the inspection system tether.
Note:
Never use WD-40 or similar solvent-based fluids on connectors or crawlers. These will cause
the rubber parts of the connector or crawler to soften and swell rendering them inoperable.
SubConn Connector: Lubrication and Cleaning
•Periodically apply Molykote 111 silicone grease or equivalent before mating connectors
•For dry mate connections, a layer of grease corresponding to 1/10 the socket depth should
be applied to the female connector
•After greasing, fully mate the male and female connector and remove excess grease from the
connector joint
•General cleaning and removal of sand or mud on a connector should be performed using a
spray-based contact cleaner like isopropyl alcohol

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User Manual
Power Take-Off
The Minitrac 8000™features a power take-off shaft located just behind the drive wheel. The shaft taps
power from the main bevel gear, positioned in front of the final drive gears. Engage with the shaft using a
cup with a standard 4mm key. The speed of the shaft is roughly twice the drive wheel, but at half the
torque. Specifically, the gear ratio for the power take-off is exactly twice the planetary ratio for your track.
The power take-off may be used to drive other devices such as brushes, lead screws, wheels, etc.,
effectively turning the track into a multipurpose servomotor. We recommend that you remove the belt
while using the power take-off.

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User Manual
Belt Installation
Track with Spring Tensioner
To remove the belt, do the following as shown below:
1. Install the spring compression screws (M8 x 50 SHCS) at the front of the track and completely
compress the tension springs as illustrated in the figures below. Note that the spring
compression screws should be lubricated with never-seize or light grease before use.
2. With the tension springs compressed, the belt is free to move by simply sliding it off the drive
(rear) wheel and over either side plate of the Minitrac™, as below.
3. To install a new belt, place it on the idler wheel up front, then slide the belt over one of the side
plates and onto the drive wheel. When the tension screws are backed off again and removed,
the springs automatically tension the belt.
STEP 1
STEP 2
STEP 3

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User Manual
Track with Manual Tensioner
The manual tensioning block is an optional component for tensioning the track belt manually using a
tensioning screw instead of springs. This is sometimes required to prevent belt skipping when the track is
operated at full power in the reverse direction. Typically, the manual tensioning block is ordered with the
track from the factory but may also be ordered separately.
To remove the belt, do the following as shown below:
1. Remove the plastic cover plates and completely loosen the M6 x 40 mm SHCS to release the belt
tension.
2. The idler wheel will slide inward enabling the track belt to slip off the rear drive wheel.
3. Belts are installed again by placing the belt over the loose idler wheel, then slipping it onto the
rear drive wheel. Adjustment of the track belt tension and idler wheel alignment is described in
the next section.
Block Tension and Alignment
Before tensioning the track belt, ensure the track is clean underneath the belt.
1. Belt tension and idler wheel alignment are adjusted using the M6 x 40 mm SHCS located in the
end of the side plates near the idler wheel. Rotate the screws clockwise to tension and
counterclockwise to slacken. Apply Loctite 243 to the tensioning screws to prevent loosening and
stainless-stainless thread galling in the idler shaft.
2. Belt tension should be adjusted evenly with each adjustment screw until there is no obvious slack
in the belt between the idler wheel and the drive wheel. When this is achieved, check the belt
tension (see next section).

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User Manual
IMPORTANT: The front idler wheel must now be properly aligned as described below. Misalignment of
the idler wheel will cause the track belt to rub against the side plates. This could degrade track
performance, potentially resulting in the track belt becoming completely jammed and stopping the unit.
3. Idler wheel alignment must be checked next, preferably by using a caliper. Measure the gap
between the forward portion of the idler wheel axle stub and the front end of the idler wheel
mounting slot on each side of the track body. The gaps on both sides must be equal to within 0.5
mm (0.020 in)
4. After the idler wheel has been aligned, re-check the track belt tension by pulling up on the middle
of the belt with your thumb. Correct track belt tension will allow a gap between 9 –12 mm (0.38 –
0.50 in).
5. Next power up the Minitrac™on its side to verify belt tracking, watching for an even gap between
the belt and the two side plates.
6. After the belt is aligned, replace the plastic side covers to prevent dirt and small bits of gravel
from falling between the idler wheel and belt.

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User Manual
Track Extension Block
An extension block can be installed onto the Minitrac 8000™ crawler track to enable use of an extended
track belt. This will extend the effective track length by 95 mm (3.8 in).
The extension block kit includes the block and extended track belt, to install do the following as shown
below:
1. From your standard track, remove the belt, long side plate, idler wheel, and springs. The short
side plate opposite the connector must remain on the track.
2. Install the springs and idler wheel into the extension block. See Error! Reference source not
found. Error! Reference source not found..
3. Install the assembled extension block onto the track. The block will clip into the slots where the
springs were installed before.
4. Install the extended track belt. See Belt Replacement & Tensioning.