Eddyfi Technologies INUKTUN MICROTRAC User manual

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

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.docm
Page 2 of 26
User Manual
Table of Contents
About This Manual........................................................................................................................................3
Description ....................................................................................................................................................3
Specifications............................................................................................................................................4
Precautions...............................................................................................................................................5
Certification...............................................................................................................................................5
Connector Pin-Out....................................................................................................................................6
Load and Speed Specifications................................................................................................................7
Basic Loading Specifications.................................................................................................................7
Influences on Loading............................................................................................................................8
Safety......................................................................................................................................................11
System Setup..............................................................................................................................................13
Mounting the Track.................................................................................................................................13
Flange Adapter .......................................................................................................................................15
Connector Handling................................................................................................................................16
Impulse Connector: Lubrication and Cleaning.....................................................................................16
Belt Installation........................................................................................................................................17
Maintenance................................................................................................................................................22
Rinsing and Cleaning..............................................................................................................................22
Scheduled Maintenance and Servicing ..................................................................................................22
Overhaul .................................................................................................................................................23
Parts and Repairs .......................................................................................................................................24
Ordering Parts/Customer Service...........................................................................................................24
Warranty Repairs....................................................................................................................................24
Factory Returns to Canada.....................................................................................................................25
Product/System Drawing Package Availability.......................................................................................25
Limited Warranty Policy ..............................................................................................................................26

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.docm
Page 3 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 copyright © 2019 by Inuktun Robotics Inc. All rights reserved.
Description
Inuktun Microtrac™4000 is a small, self-contained tractor module complete with its own electric motor
and drive train. They are designed for harsh environments including confined spaces, underwater,
radioactive areas, and in some harsh chemical solutions. Microtrac modules may be operated in pairs to
make a steerable platform or used in-line to fit in small spaces. Applications include storm and sewer
pipe inspection, use with bomb disposal robots, industrial inspection, and custom vehicles for nuclear
facility inspection and waste cleanup. Microtracs are made in three varieties: aluminum, brass or
stainless steel. The choice of track material will depend on its end use. In all versions, the final drive
power is delivered through a deep lug rubber track belt in either standard or extended length. As well, the
track can be configured for both left-hand or right-hand operation.

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.docm
Page 4 of 26
User Manual
Specifications

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.docm
Page 5 of 26
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
The product is built in accordance with:
Machinery Directive 2006/42/EC, and
Electromagnetic Compatibility Directive 2004/108/EC and Directive 2014/30/EU

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.docm
Page 6 of 26
User Manual
Connector Pin-Out
Standard Tracks
The embedded Microtrac 4000™ uses a 4-pin Impulse IE-55 connector on the side of the track to connect
power and communications. Contact Eddyfi Technologies for details of the RS-485 control protocol.
Note: Pin-out is shown for the Bulkhead Connector on the track.
Direct Drive Tracks
The embedded Microtrac 4000 uses a 6-pin Impulse IE-55 connector on the side of the track to connect
motor power, encoder power and encoder signals. Contact Eddyfi Technologies for details of the
encoder feedback.
Note: Pin-out is shown for the Bulkhead Connector on the track.

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
IPN: 3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.docm
Page 7 of 26
User Manual
Load and Speed Specifications
Basic Loading Specifications

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
IPN: 3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.docm
Page 8 of 26
User Manual
The above diagram details the speed and loading specifications of the standard and high-torque
Microtracs™. There are four regions defining performance:
•Continuous Duty: Preferred operating region.
•Short Term Operation: Operation permitted for several minutes.
•Intermittent: Surge loading allowable for a few seconds at a time.
•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 diminish 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
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.

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
IPN: 3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.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
equation below. A typical 13.5 kg (30 lb) magnetic VT100 with 13.5 kg (30 lb) of down-force on a surface
with friction coefficient µ = 0.5 will experience an additional 8kg (18 lb) load per track to execute the spot
turn. 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.

Microtrac™
Document: UMDB007595.docm
Revision: B13
Created by: KB
Date: 17 Nov 2019
IPN: 3042830-B13
Source Location: C:\ePDM\ISLEng\products\db-microtracs4000\manuals\UMDB007595.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, and the following time
required to cool down. The duty cycle of the Microtracs 4000™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 80 °C (175 °F) it will automatically shut down and wait until
its internal temperature drops below 70 °C (160 °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.