Eddyfi Technologies Magg 310 User manual

Eddyfi Robotics Inc
2569 Kenworth Road, Suite C
Nanaimo, BC, V9T 3M4
CANADA
+1.250.729.8080
[e-mail]
www.eddyfitechnologies.com
Magg™ 310
MAGNETIC INSPECTION CRAWLER

Magg™ 310
Document: umed018307
Revision: A01
Created by: ST
Date: 24 Feb 2021
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User Manual
Table of Contents
About This Manual........................................................................................................................................4
System Description.......................................................................................................................................4
Specifications............................................................................................................................................5
Precautions...............................................................................................................................................6
Certification...............................................................................................................................................6
Vehicle Overview......................................................................................................................................6
Dimensions...............................................................................................................................................7
Safety........................................................................................................................................................8
Intended Use...........................................................................................................................................10
Laser Lines .............................................................................................................................................11
System Setup..............................................................................................................................................12
Personnel Requirements........................................................................................................................12
Working and Storage Environment.........................................................................................................12
System Power.........................................................................................................................................13
Galvanic Corrosion Control.....................................................................................................................13
ICON™ Portable Controller Connection .................................................................................................13
Vehicle and Tether Connection ..............................................................................................................13
Portable Reel Setup................................................................................................................................14
Mini-Reel Setup ......................................................................................................................................15
Tether Handling ......................................................................................................................................16
Connector Handling................................................................................................................................16
SubConn Connector: Lubrication and Cleaning ..................................................................................17
Impulse Connector: Lubrication and Cleaning.....................................................................................17
Vehicle Configuration..................................................................................................................................18
Camera Mounting ...................................................................................................................................18
Standard Mounting...............................................................................................................................18
Pole Mounting......................................................................................................................................19
Alternate Mounting...............................................................................................................................19
Magnet Spacing......................................................................................................................................20
Fall Arrest................................................................................................................................................22
Operation.....................................................................................................................................................22

Magg™ 310
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User Manual
Pre-Operations Check ............................................................................................................................22
Post-Operations Check...........................................................................................................................23
ICON™ Software ....................................................................................................................................24
Driving the Vehicle..................................................................................................................................24
Maintenance................................................................................................................................................24
Galvanic Corrosion Control.....................................................................................................................24
Rinsing and Cleaning..............................................................................................................................25
Fuse Replacement..................................................................................................................................25
Microtrac™ Maintenance........................................................................................................................26
Tether Re-termination.............................................................................................................................26
Troubleshooting ..........................................................................................................................................27
Camera Control Problems......................................................................................................................27
Video Issues ...........................................................................................................................................27
Vehicle Issues.........................................................................................................................................28
Tether Reel Issues..................................................................................................................................28
Parts and Repairs .......................................................................................................................................29
Ordering Parts/Customer Service...........................................................................................................29
Warranty Repairs....................................................................................................................................29
Factory Returns to Canada.....................................................................................................................30
Product/System Drawing Package Availability.......................................................................................30
Limited Warranty Policy ..............................................................................................................................30

Magg™ 310
Document: umed018307
Revision: A01
Created by: ST
Date: 24 Feb 2021
IPN: 3097222-A01
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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 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.
Information in this manual does not necessarily replace specific regulations, codes, standards, or
requirements of others such as government regulations.
This manual copyright © 2021 by Eddyfi Robotics Inc. All rights reserved.
System Description
The Inuktun Magg™ 310 is a magnetic tracked crawler capable of driving vertically or inverted along
ferrous surfaces. Additionally, the magnet modules allow the vehicle to pull longer lengths of tether than
could normally be achieved without magnets, when travelling horizontally in steel pipes or on steel decks.
The crawler features a high-definition camera with a full 360-degree continuous tilt range and minimal
viewing obstruction near the back of the vehicle. The vehicle uses two extended 4000 series Microtracs™
mounted underneath the main chassis plate and can be moved up or down to accommodate different
pipe sizes and configurations.

Magg™ 310
Document: umed018307
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Created by: ST
Date: 24 Feb 2021
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User Manual
Specifications
Min Vehicle Dimensions
194 x 286 x 280 mm (7.6 x 11.3 x 11 in)
Vehicle Weight1
6.2 kg (14 lb)
Depth Rating
60 m (200 ft)
Min Driving Surface Radius2
1.5 m (60 in)
Maximum Tether Length3
100 m (330 ft)
Tracks
2x Microtracs™4000
Camera
Lights
Standard
2x High intensity LEDs
Optional
2x High intensity LED Spot Lights @ 20 °
Lasers
Optional
2x Vertical Laser Lines (635 nm)
@ 70 mm (2.75 in) Spacing
Tilt
Range
360 ° Continuous
Speed
0 –9 °/s
Sensor
1/2.8in Exmor R CMOS
Lens
Standard
f = 3.8 to 38 mm
120x Zoom (10x Optical, 12x Digital)
67 ° HFOV (air)
Focus
Manual or Auto
Resolution
1920 x 1080
Format
HD 1080i (60 fps)
Minimum Illumination
1.4 lux
Depth of Field
10 mm (0.4in) to infinity
Reel
Portable tether reel with payout encoder
Power Requirements
100 –240 VAC 50/60Hz, 5A
Operating Temperature
0 –50 ºC (32 –122 ºF)
Storage Temperature
-20° –60 ºC (-4 –140 ºF)
1
Weights may vary depending on optional components.
2Minimum surface radius is based on magnetic adhesion when driving vertically or inverted –see Magnet Spacing.
3Actual travel distance may be decreased depending on inspection geometry (traction and number of bends).

Magg™ 310
Document: umed018307
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Created by: ST
Date: 24 Feb 2021
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User Manual
Precautions
IMPORTANT: When configuring a 70V system, check to see if the tracks are compatible. Older
versions of 4000 series Microtracs™ are not 70V compatible. Look for the Wide Input Voltage
symbol \V/ located on the side plate of the track indicating 70V compatibility.
Certification
This system is built in accordance with the Low Voltage Directive 2006/95/EC and Directive 2014/35/EU,
Machinery Directive 2006/42/EC, and Electromagnetic Compatibility Directive 2004/108/EC and Directive
2014/30/EU.
Vehicle Overview

Magg™ 310
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User Manual
Dimensions

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User Manual
Safety
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.
WARNING: Hazardous Voltage 36-70 VDC. If the equipment is powered from a
source other than an Eddyfi Technologies provided controller, the power supplied
to the product must have reinforced isolation from the mains with no reference to
earth ground.
WARNING: Magnetic Pinch Hazard –The magnetic
chassis is fitted with rare earth magnets. These magnets
are very strong and create an immanent pinch hazard.
Use caution when handling the magnets or vehicle near
steel objects and tools, they may snap together
unexpectedly.
WARNING: Medical Hazard –Operators with
magnetically sensitive medical implants should be aware
of and follow appropriate practices.
WARNING: Electronic Device Interference –
Magnetically sensitive devices, including computer hard
drives, cell phones, watches and credit cards may be
disrupted or damaged by the magnetic field.
Note: Rare earth materials are mechanically weak, and
magnetically very strong. They must therefore be
handled very carefully to avoid damage.
Note: To reduce risk of injury and damage to equipment, always store the
Magg™ 310 vehicle in its magnetically shielded storage and shipping box
or store the magnets on a steel plate when not in use.
Note: We strongly recommend using gloves when handling the vehicle to
reduce magnetic pinching hazard.

Magg™ 310
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User Manual
Warning: Avoid Magnetic Slamming. Extreme care must be taken when
handling the vehicle, particularly when placing it onto a wall or into its storage
box. Without taking heed of the sudden pull of the magnetic field onto a
surface, the Magg™ 310 can be slammed down hard causing damage to the
vehicle. Using a solid grip on the vehicle, we recommend touching down the
vehicle by one end first and then pivoting flat.
WARNING: Intense Optical Radiation - The Magg™ 310 camera lights are
extremely bright. Never look directly at the lights. Use a welding filter (shade #8 or
higher) if inspecting the LEDs.
•CAUTION: Class II Laser: 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 practices. For storage and shipping, the Magg™ 310 system is packed in
three parts: Controller, Vehicle and Tether. Each of the three components is either built or packed
into a Pelican case with carrying handle. The heaviest case containing the tether and mini-reel is
equipped with wheels and extending handle like a suitcase.
•Do not operate the system with damaged wires. A short circuit may damage the power system,
telemetry system, cameras, or attached equipment. Exposed wires may also create a shock
hazard.
•Disconnect the power source before servicing the product; otherwise, damage may result.
•Although designed for durability, the vehicle and its components or attached devices may suffer
structural damage if dropped or impacted. A lifeline or fall arrest system should be used at all time
when the vehicle is navigating on a vertical or inverted horizontal position. In addition, stepping on
the tether may pull the vehicle off the wall causing it to fall and sustain physical damage.
•All personnel operating or maintaining this equipment must be trained and competent.
•Our 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 personal protective equipment (PPE) for operation and maintenance of the
equipment.
WARNING: Spark Hazard - Under no circumstances should this equipment be
used in a potentially explosive atmosphere.

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User Manual
WARNING: Trip Hazard - Never stand on the tether. A snap load to the tether
may pull it out from underneath you and cause you to fall. Standing on the tether
may also damage its internal conductors, cause unnecessary wear, and decrease
its life.
WARNING: High Temperature - The camera head and auxiliary lights may
become extremely hot during operation. Allow a cool-down period before
handling.
WARNING: Falling Object - A lifeline or fall arrest system should be used at all
times when the vehicle is navigating on a vertical or inverted horizontal position.
When the vehicle is climbing, never stand below the vehicle operations area.
Intended Use
The Magg™ 310 is an industrial inspection vehicle intended for crawling on steel walls, tanks and
structures and to provide close-up or zoom HD video of the inspection target, which could be a weld,
paint covering, etc. The Magg™ 310 may be used above or below the waterline up to 60 m (200 ft) deep,
or in dry environments. It may also be used in non-magnetic environments with removal of the magnet
cups.
Typical applications include:
•Underwater weld and paint inspection.
•Potable water system inspection.
•Steel Tank inspection.
•Large diameter pipe inspection.
•Mobile robotics and remote sensing.
•Reactor vessel inspection.
Misuse of the system is deployment in a situation for which it is not rated, or incorrect handling.
Examples of misuse include:
•In a vacuum.
•Beyond its depth rating without factory approval.
•Above or below its temperature rating.
•Use in a potentially explosive atmosphere.
•Use in incompatible chemical environments.
•Very high radiation environments (Beta / Gamma).
•Prolonged overload (Payload or pulling load).
•Camera pointed at the Sun or at intense lighting.
•Mechanical impacts & scraping during deployment / magnetic slamming / dropping.
•In salt water without an anode.

Magg™ 310
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User Manual
Laser Lines
The Magg™ 310 is equipped standard with vertical laser lines (Class 2 lasers at 635 nm, 1.5 mW). Laser
line separation is 70 mm (2.75 in).
CAUTION: Class II Laser: 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.

Magg™ 310
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Created by: ST
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User Manual
System Setup
Personnel Requirements
Basic deployment of the Magg™ 310 system may be performed by one person. Operations at more
complex worksites may require two people, especially when the console location is removed from the
point of deployment.
•Console Operator: This person is responsible for driving the vehicle, watching the location of the
inspection and making comments about it and the surrounding conditions. It is also the operator’s
responsibility to assess whether the location of the inspection is in the appropriate condition for
safe passage of the vehicle or if there is a risk of getting stuck. The operator may also assist in
general site setup (cones, warning signs, etc.), vehicle maintenance and configuration.
•Deployment / Tether Handler / Field Maintenance: This person has several tasks including:
oConfiguring the vehicle for the current inspection.
oPlacing and retrieving the vehicle to and from the inspection area.
oWatching the tether as the vehicle enters and exits the inspection.
oOperating the reel and winding the tether during recovery.
Establish a good channel of communication between the operator and deployment personnel. Good
communication can avoid accidents, damage to the equipment, and promotes efficiency and productivity.
In particular, the person deploying the vehicle and watching the tether must be able to quickly tell the
operator to stop the vehicle if something goes wrong. The operator should never turn on power or initiate
movement without first communicating with the vehicle handler.
Working and Storage 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)

Magg™ 310
Document: umed018307
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Date: 24 Feb 2021
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User Manual
System Power
The Magg™ 310 is operated through an ICON™ Portable Controller, or a Rackmount Interface Box.
These controllers provide power to the tether and vehicle.
Refer to the Controller User Manual for further details and power requirements.
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.
Galvanic Corrosion Control
We strongly recommend cathodic protection whenever the vehicle is being deployed in a saltwater
environment, either submerged or in salt spray. We recommend aluminum marine anodes exclusively for
use with the inspection system. Aluminum anodes are common in the marine industry and are replacing
zinc anodes in many areas. For inspection systems that are often pulled in and out of salt water,
aluminum anodes are especially important, as zinc anodes tend to scale over when exposed to air and
may not reactivate when submerged again. An aluminum anode will always reactivate.
For permanent installations, it is required that the structure to which the system is mounted also be
protected by aluminum anodes. If the structure is of a dissimilar metal, the system mount must be
isolated from the structure. Do not mix anode types (zinc and aluminum) on the assembly. There must be
only one anode type throughout the structure. Avoid use of Magnesium anodes altogether.
ICON™ Portable Controller Connection
The ICON™ Portable Controller supplies power to the tether and vehicle. It provides a communication
interface to the vehicle. It also provides video reception and distribution.
Refer to the Controller Setup section of the ICON™ Portable Controller User Manual for more information.
Vehicle and Tether Connection
The tether and vehicle are depth rated to 60 m (200 ft) of water. The tether connector and track
connectors are dry-mate types which must be dry when making a connection. Keep the tether connector
capped with a dummy plug when not connected to the vehicle to help keep out dirt.
It is important that the tether be properly connected to the vehicle.
1. Connect the vehicle end of the tether to the back of the harness block. Visually line up the key in
the connector before mating. Fully screw down and hand tighten the locking collar.
2. Verify the track and camera whips from the harness block to their respective components are
securely connected, and the whips are free from damage.

Magg™ 310
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Created by: ST
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User Manual
Portable Reel Setup
If your system includes a portable reel, follow these steps to operate:
1. Remove the shipping cap from the front of the case and insert the crank handle.
2. Connect the deck cable from the reel to the controller.
3. Disengage the packing brake (pull back and turn on the locking pin).
4. Make sure the friction brake is engaged - disengaging the friction brake can result in slack tether
resulting in potentially jamming the reel.
5. Unwind some tether and connect the tether to the vehicle.
6. Run the tether through the level wind as follows:
a. There is an access slot which must be opened by lifting up on the two exposed screw
heads to raise the tether support shafts.
b. Pull up on both sides of the axle on the top wheel and slide the tether beneath it - failing to
lift up on the wheel can scuff and damage the tether.
c. Make sure that the two wheels that sandwich the tether top and bottom in the level wind
are tracking properly as the tether is paid out - this tells the controller how much tether the
reel has unwound and how far your vehicle has travelled.

Magg™ 310
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User Manual
Mini-Reel Setup
If your system includes a Mini-Reel, follow these steps to operate:
1. Remove the Mini-Reel from the shipping case.
2. Connect the deck cable from the reel to the Video Interface and Power Supply.
3. Connect the encoder deck cable from the reel to the Video Interface and Power Supply (if
provided with Mini-Reel).
4. Disengage the shipping brake.
5. Make sure the friction brake is engaged –disengaging the friction brake can result in slack tether
resulting in potentially jamming the reel.
6. Unwind some tether and connect the tether to the vehicle.

Magg™ 310
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User Manual
Tether Handling
The tether is one of the most important parts of the system. It feeds power and control signals to the
system and returns data to the controller. If the tether is damaged from improper use, poor handling or an
accident, the system may become inoperable. This could lead to significant downtime, loss of production,
and avoidable costly repairs. It is encouraged to stress the importance of the tether and its use to anyone
operating or maintaining the system. For maximum tether life and reliability, we recommend the following
tether handling tips.
•Do not step on the tether.
•Do not drive over the tether.
•Do not bend the tether beyond its minimum bend radius.
•Do not kink the tether.
•Do not snap load the tether.
•Avoid loading the tether whenever possible.
•Always use the cable grip strain relief if applicable to your system.
•Regularly inspect the tether for damage.
•Regularly clean the tether.
Note:
Protecting the conductors inside the tether is critical to the life and operation of the tether.
Proper tether handling and care will result in extended tether life and system reliability.
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 keyways 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.

Magg™ 310
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User Manual
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.
Impulse Connector: Lubrication and Cleaning
•Lubricate mating surfaces regularly with 3M Silicone spray or equivalent, DO NOT GREASE
•Lubricate O-rings with Molykote 111 or equivalent.
•Use dust caps to protect connectors wherever possible.
•Clean connectors with soap and fresh water, rinse out with alcohol and allow connector to air
dry before using.

Magg™ 310
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User Manual
Vehicle Configuration
Camera Mounting
The Magg™ 310 camera can be mounted in a standard configuration or can be removed from the vehicle
and mounted on an accessory pole. The camera can also be mounted in an alternate orientation option.
Standard Mounting
To install the camera onto the vehicle, do the following (removal is the reverse of installation):
1. Make sure the starboard axle screw is fully disengaged (tip should be slightly recessed in round
housing).
2. Slide the camera between the chassis fairings, make sure the connector is oriented as shown
and the washer is located with the locking nut on the outside of the fairing (see below).
3. Making sure the connector stem is seated all the way down in the port fairing slot, tighten the axle
screw; make sure it cleanly enters the bronze bushing in the camera head.
4. Tighten the port side locking nut.
5. Connect the camera whip to the bulkhead connector.

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User Manual
Pole Mounting
Mounting the camera onto the optional inspection pole is nearly identical to the standard installation (see
below).
Alternate Mounting
Mounting the camera onto the optional mount is as follows (removal is the reverse of installation):
1. Remove one magnet cup M5 x 30 mm SHCS from each side of the vehicle as shown below.
2. Install the optional mount with 2x M5 x 30 mm SHCS and 4x M4 x 12 mm SHCS as shown.
3. Install the camera onto the mount, making sure to fully seat the connector stem into its mounting
slot and tighten the lock nut.

Magg™ 310
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User Manual
Magnet Spacing
The Magg™ 310 vehicle comes equipped with magnet cups to enable the vehicle to maneuver on a
vertical or inverted magnetically attractive surface. The magnet cups utilize rare earth permanent magnets
and cannot be disabled (or turned off).
The inspection surface must be carbon steel or alloy steel that has good magnetic properties. Most
structural steels are strongly magnetic. 300 series stainless steels and some other alloys are not. The
client may be able to identify their metal and look up its properties or test it with a magnet.
It is important to note that the magnet cups lose magnetic adhesion as they move away from the
attractive surface. The operator needs to pay attention to distance between the magnet cups and the
surface. If the magnets are too close to the surface, the Microtracs™ may not be able to overcome the
added friction for skid steering. If the magnets are too far away the vehicle may lose magnetic adhesion.
The distance from the magnet cups to the inspection surface can be adjusted by the operator by adding
or removing the magnet spacers. The thickness of the steel surface also affects the amount of magnetic
adhesion provided by the magnets.
Some considerations when determining magnet spacing:
•Thickness of stainless, plastic, or concrete cladding over the carbon steel surface.
•Uneven surfaces such as large welds.
•Thickness of magnetically attractive surface (0.20in minimum is ideal).
•Curvature of inspection surface.