Eddyfi technologies Inuktun Minitrac User Manual
.
2569 Kenworth Road, Suite C
Nanaimo, BC, V9T 3M4
CANADA
+1.250.729.8080
info@eddyfitechnologies.com
www.eddyfitechnologies.com
INUKTUN MINITRAC™
Minitrac™
Document: UMDC013503.docm
Revision: A11
Created by: KJB
Date: 26 Sep 2019
3072929-A09
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 2 of 24
User Manual
Table of Contents
About This Manual ........................................................................................................................................ 4
Description .................................................................................................................................................... 4
Product Description .................................................................................................................................. 4
Specifications ............................................................................................................................................ 5
Load & Speed Specifications: ................................................................................................................... 6
Basic Loading Specifications ................................................................................................................. 6
Influences on Loading ............................................................................................................................ 6
Additional Payload .............................................................................................................................. 7
Inclines ............................................................................................................................................... 7
Differential Steering ............................................................................................................................ 8
Curved Geometry ............................................................................................................................... 8
Elevated Temperature & Thermal Shutdown ..................................................................................... 9
Track Pin-Out .......................................................................................................................................... 10
Standard Tracks ................................................................................................................................... 10
High Voltage Tracks ............................................................................................................................. 10
Certification ............................................................................................................................................. 11
Safety .......................................................................................................................................................... 11
Setup & Operation ....................................................................................................................................... 13
Mounting Dimensions – Standard Length Belt ....................................................................................... 13
Mounting Dimensions – Extended Length Belt ....................................................................................... 14
Power Take-Off ....................................................................................................................................... 15
Maintenance ................................................................................................................................................ 16
Scheduled Maintenance and Servicing .................................................................................................. 16
Daily ..................................................................................................................................................... 16
Weekly ................................................................................................................................................. 16
Monthly ................................................................................................................................................ 16
General Cleaning .................................................................................................................................... 17
Belt Replacement & Tensioning (Spring Tension).................................................................................. 17
Minitrac™
Document: UMDC013503.docm
Revision: A11
Created by: KJB
Date: 26 Sep 2019
3072929-A09
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 3 of 24
User Manual
Belt Replacement & Tensioning (Manual Tensioning) ........................................................................... 18
Belt Removal / Replacement ............................................................................................................... 18
Block Tension and Alignment .............................................................................................................. 18
Gearbox Oil ............................................................................................................................................. 19
Checking the Oil ................................................................................................................................... 19
Draining / Filling the Oil ........................................................................................................................ 20
Overhaul ................................................................................................................................................. 20
Track Extension Block ................................................................................................................................. 20
Parts and Repairs ....................................................................................................................................... 22
Ordering Parts/Customer Service ........................................................................................................... 22
Warranty Repairs .................................................................................................................................... 23
Factory Returns to Canada ..................................................................................................................... 23
Product/System Drawing Package Availability ....................................................................................... 23
Limited Warranty Policy .............................................................................................................................. 24
Minitrac™
Document: UMDC013503.docm
Revision: A11
Created by: KJB
Date: 26 Sep 2019
3072929-A09
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 4 of 24
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 Inuktun Services Ltd. All rights reserved.
Description
Product Description
The Inuktun Minitrac™ 8000 crawler track 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: A11
Created by: KJB
Date: 26 Sep 2019
3072929-A09
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 5 of 24
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
Duty Cycle
In Water
100%
In Air
Dependent upon load and heatsinking
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: A11
Created by: KJB
Date: 26 Sep 2019
3072929-A09
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 6 of 24
User Manual
Load & Speed Specifications:
Basic Loading Specifications
The above diagram details the speed and loading specifications of the standard 8000-Series Minitrac™.
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: A11
Created by: KJB
Date: 26 Sep 2019
3072929-A09
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 7 of 24
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: A11
Created by: KJB
Date: 26 Sep 2019
3072929-A09
Source Location: C:\ePDM\ISLEng\products\dc-minitracs8000\manuals\UMDC013503.docm
Page 8 of 24
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 12kg (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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