Related Manuals for Eddyfi Technologies Inuktun Versatrax 150
Summary of Contents for Eddyfi Technologies Inuktun Versatrax 150
- Page 1 Eddyfi Robotics Inc. 2569 Kenworth Road, Suite C Nanaimo, BC, V9T 3M4 CANADA +1.250.729.8080 info@eddyfitechnologies.com www.eddyfitechnologies.com INUKTUN VERSATRAX 150™...
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Page 2: Table Of Contents
Versatrax 150™ Table of Contents About This Manual ............................5 System Description ............................5 Specifications ............................6 Certification ............................... 7 Safety ................................ 7 System Setup ..............................9 Working Environment ..........................9 System Power ............................9 Power Requirements ..........................9 Set the Line Voltage..........................10 Generators / Inverters .......................... - Page 3 Versatrax 150™ Vehicle Configuration ..........................20 Parallel Vehicle ............................20 Chassis Pipe Sizing ..........................20 Powered Camera Raise ........................21 Minimum Bend Sizes ........................... 22 Spectrum 90™ Installation ........................23 Spectrum 120HD™ Installation ......................25 Spectrum 120™ Bumper Bars ......................25 Light Installation ...........................
- Page 4 Versatrax 150™ Dealing With Obstacles .......................... 48 Inspection Guidelines ..........................48 Powered Winch Operation ........................48 Vehicle Recovery ............................ 49 Emergency Recovery........................... 50 Troubleshooting ............................50 Camera Control Problems ........................50 Video Problems............................51 Vehicle Problems ............................ 51 Winch Problems ............................52 Maintenance ..............................
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Page 5: About This Manual
This manual is copyright © 2019 by Eddyfi Robotics Inc. All rights reserved. System Description The Inuktun Versatrax 150™ is a system of pipeline video inspection vehicles based on the Minitrac™ 8000 crawler. Using In-Line and Parallel chassis’, the system navigates pipelines from 150 – 900 mm (6 – 36 in) internal diameter with the camera centered, with an infinite size range with the camera non-centered. -
Page 6: Specifications
Versatrax 150™ Specifications Parallel Ø300 x 1050 mm (Ø12 x 41.5 in) Min Vehicle Dimensions Inline Ø150 x 2000 mm (Ø6 x 79 in) Parallel 45 kg (100 lb) Vehicle Weight Inline 45 kg (100 lb) Depth Rating 60 m (200 ft) 305 –... -
Page 7: Certification
Versatrax 150™ Certification The Inuktun Versatrax 150™ system is built in accordance with the Low Voltage Directive 2006/95/EC, Machinery Directive 2006/42/EC, and Electromagnetic Compatibility Directive 2004/108/EC. 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. - Page 8 • Observe safe lifting and handling practices. Component parts of the Inuktun Versatrax 150™ system are heavier than the recommended lifting load for a single person. Two people are recommended for lifting the vehicle.
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Page 9: System Setup
Versatrax 150™ WARNING: Mechanical Pinch Hazard – Rotating or moving components can draw fingers into a pinch position. Do not handle the vehicle while mobile parts are running, turn off power or disconnect the tether while reconfiguring or maintaining the vehicle. System Setup Working Environment The control system (interface box, power supply, and Control computer) is to be used in a dry, covered... -
Page 10: Set The Line Voltage
Versatrax 150™ Set the Line Voltage Before powering on the Versatrax 150™ system, it is important to check that the input voltage settings are correct - an incorrect voltage setting will damage the system power supply and the winch controller. When installing the system in a new location always check the line voltage. -
Page 11: Connections
Versatrax 150™ Connections Pre-Configured Control Rack The monitor, computer, interface box and power supply are typically installed and connected in a shock- mount portable 19 in rack case. Systems pre-configured in a control rack will only need the tether, winch and vehicle connections to be made before operations. -
Page 12: Control System Connections - Sd Video
Versatrax 150™ Control System Connections – SD Video The ability to receive standard definition or high definition video depends on the interface box used with the system. A standard definition interface box is depicted below which would be connected to the high voltage power supply. -
Page 13: Fiber Optic Tether
Versatrax 150™ video system) and D, E or F for rear video. There are spare front and rear video outputs which can be connected to external monitors. 6. Options for HD video out include HD-SDI, USB3 (internal capture device) and component Pr-Y- Pb. -
Page 14: Client Configured Rack
Versatrax 150™ Client Configured Rack If you are installing the power supply and interface box into your own 19 in rack installation, consideration must be given to adequate air flow for cooling the power supply. In any installation, ensure that the air inlet and outlet at the sides of the power supply are free of obstructions. -
Page 15: Vehicle And Tether
Versatrax 150™ Vehicle and Tether It is important that the tether be properly connected to the vehicle – otherwise damage to the system may result. Connect the vehicle end of tether to the back of the integrated harness block. Visually line up the key in the connector before mating. -
Page 16: Winch Installation
Versatrax 150™ Winch Installation If your system includes an AC powered winch refer to the winch manual for setup and installation instructions. 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. -
Page 17: Tether Handling
Versatrax 150™ 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. -
Page 18: Subconn Connector: Lubrication And Cleaning
System Installation The following describes a typical installation scenario recommended by Eddyfi Technologies. Vehicle Layout A typical set up for a pipe inspection system is based on a covered two ton or larger box truck. The truck carries the power source (generator) and houses the power supply and control system in a dry, covered environment. -
Page 19: Vehicle Handling
The cable on this hoist needs to be long enough for the deepest expected deployment. Eddyfi Technologies recommends a dedicated work bench for vehicle configuration and maintenance. Ideally this is at least 0.75 x 1.5 m (30 x 60 in) and is accessible from both sides. The lower portions of the bench may be equipped with racks or drawers where tools, spare parts, and fasteners are kept. -
Page 20: Vehicle Configuration
Versatrax 150™ Vehicle Configuration Parallel Vehicle Chassis Pipe Sizing To fit inside specific pipe sizes, the chassis hinges must also be adjusted. To adjust the hinges: 1. Loosen the clamping nut; make sure the camera bed is far enough forward to provide access. 2. -
Page 21: Powered Camera Raise
Versatrax 150™ Powered Camera Raise Note: When the powered camera raise is installed, the minimum pipe size is increased to 350 mm (14 in) to allow room for the mechanism. The camera raise needs to be zeroed before each use. Click the calibrate button on the ICON™ interface after system startup. -
Page 22: Minimum Bend Sizes
Versatrax 150™ Manual Camera Height Adjustment If the Versatrax 150™ has a manually adjustable camera bed the height of the camera may be adjusted as follows: 1. Remove the push button locking pin. 2. Adjust the height of the camera to the nearest locking hole. 3. -
Page 23: Spectrum 90™ Installation
Versatrax 150™ Spectrum 90™ Installation The Versatrax 150™ can mount any of the Spectrum 90/120/120HD™ cameras. Installation is typical for all three camera types as follows: 1. Adjust the camera bed to the position shown below. This will allow access to the camera mounting screws. - Page 24 Versatrax 150™ M6x16mm SHCS 4. Install the connector while the camera is part way in. Push the whip connector all the way onto the camera. Make sure there is no gap between the rubber faces of the connectors. Screw the locking collar onto the bulkhead connector;...
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Page 25: Spectrum 120Hd™ Installation
Versatrax 150™ Spectrum 120HD™ Installation Because of the larger connector on the SP120HD™ camera, it is necessary to use spacers behind the camera to make room for the connector as shown in Error! Reference source not found.. Thread the spacers into the back of the camera and mount using 3x M6 x 16 mm SHCS as per the previous section. Spectrum 120™... -
Page 26: Light Installation
Versatrax 150™ Light Installation Light Mount When Using Standard Length Tracks The 901 lights are installed onto the camera mount plate via mounting bracket as follows: 1. If the 901 mounting brackets are not installed, attach them to the back of the camera mount plate using: a. - Page 27 Versatrax 150™ Light Mount For Extended Tracks When the extended tracks are installed, a different light bracket must be used to avoid interference between the end of the tracks and the lights. WARNING: Reduced Clearance. With the 901 lights installed with the extended tracks, the vehicle will no longer fit into a 305 mm (12 in) ID pipe.
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Page 28: Minitrac™ Installation
Versatrax 150™ FIGURE 1: 901 LIGHT INSTALLATION – EXTENDED TRACKS Minitrac™ Installation To install the Minitracs™ onto the parallel chassis, the vehicle must be configured as follows: a. Lower the camera raise to the lowest position so the vehicle can be turned over. b. - Page 29 Versatrax 150™ STEP 2 3. Tip the vehicle to access the outside hinge. STEP 3 Document: UMDW014058.docm Revision: A03 Created by: KW Date: 10 Oct 2019 3075415-A03 Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm Page 29 of 57...
- Page 30 Versatrax 150™ STEP 4 4. Secure the outside hinge using 2x M6 x 16 mm SHCS and Loctite 243 (blue). 5. Secure the cabling as shown in the final illustration. The angled clamps are held on using M5 x 12 mm FHMS.
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Page 31: Track Height Extensions
Versatrax 150™ Track Height Extensions Track extension plates simply bolt onto the outer hinges using M6 x 16mm socket cap screws. The tracks then bolt onto the extension plates as they normally would on the chassis as explained in the previous section. -
Page 32: Spectrum™ Camera Extension
Versatrax 150™ Spectrum™ Camera Extension The optional camera raise extension is a bolt-on bracket which raises the camera by 356 mm (14 in). 1. Remove the camera, handle, bumper bars and mount, and lights and brackets from the vehicle and install them on the extension bracket. The top of the extension bracket is made with the same profile as the original camera mount. -
Page 33: Rear Camera Installation
The Sapphire camera uses a higher voltage and different pin-out than the Inuktun Amber™ Note: camera which is used on other Eddyfi Technologies equipment. You cannot use the Amber with the Versatrax system. Attempts to install the Amber camera will damage the connector and burn out the camera. -
Page 34: Advanced Accessories
Versatrax 150™ Advanced Accessories Minitrac™ Length Extensions Extensions may be added to the Minitracs™ to increase their length by 114 mm (4.5 in) to improve vehicle stability and increase weight. The tracks mount to the chassis as normal, and configurations will function as normal –... -
Page 35: Active Track Chassis Articulation
Versatrax 150™ Light Installation for details. Active Track Chassis Articulation Active track gives the operator remote control over the chassis size configuration. Active track is configured to install either on the left or right-hand side of the vehicle. Partial chassis disassembly is required in order to install and is provided as a factory option –... -
Page 36: Sonde
Versatrax 150™ Sonde A standard Ø19 mm (Ø0.75 in) battery powered sonde is able to mount on either side of the chassis as shown below. The sonde depicted below is a Prototek FV-20 512 Hz. If the Active Track motor is installed, the sonde can still mount behind the Active Track motor. -
Page 37: Fiber Optic Tether
Versatrax 150™ Fiber Optic Tether If your system comes equipped with a fiber optic tether, do the following to mate the fiber termination canister to the harness block as shown below: 1. Mate the electrical connectors between the fiber termination canister and harness block – make sure to align the keyways on the top of the connectors. -
Page 38: Laser Scanner Mount
Versatrax 150™ Laser Scanner Mount M6x16mm SOCKET CAP SCREW If your is equipped with an optional ULS-100 laser scanner module, it can be centered in the pipe by adjusting the quick-release pin at the base of the linkage. Mount the adjustable arm for the ULS-100 scanner to the underside of the main camera mounting block using the M6 x 16 mm SHCS. -
Page 39: Odometry Module
Versatrax 150™ Odometry Module The odometry module is an optional factory installed module which provides the pitch, roll, heading, ambient temperature and the distance travelled. It is secured to the bumper bar holder above the camera using 4x M4 x 20 mm SHCS. Make sure the cable whips are installed and routed as shown. The figure below shows how the orientation sensor is mapped relative to the vehicle. - Page 40 Versatrax 150™ The axes are defined as follows: • The Y axis is the length of the vehicle • The X axis is the width of the vehicle • The Z axis is the height of the vehicle A clockwise rotation around the Y axis is defined as the positive direction (increases value). A clockwise rotation around the X axis is defined as the positive direction (increases value).
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Page 41: Inline Vehicle
Versatrax 150™ Inline Vehicle Minitrac™ Installation WARNING: Pinch Hazard. Keep your fingers and hands out of the X-Hinge. Do not hold or lift the vehicle by the X-Hinge. Severe pinching and hand injury may result. Always use the handles next to the hinge for lifting. All fasteners are M6 x 16 mm SHCS as illustrated above. -
Page 42: Spectrum 90™ Installation
Versatrax 150™ Spectrum 90™ Installation Install the Spectrum™ camera on to the front of the vehicle using 3x M6 x 16 mm SHCS (older cameras use ¼-20 x 5/8 in SHCS). Use Loctite 243 (blue) with all fasteners. Lubricate the connector with silicone grease or silicone spray and fully engage the locking collar. - Page 43 Versatrax 150™ Document: UMDW014058.docm Revision: A03 Created by: KW Date: 10 Oct 2019 3075415-A03 Source Location: C:\ePDM\ISLEng\products\dw-versatrax150mkii\manuals\UMDW014058.docm Page 43 of 57...
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Page 44: Camera Height / Skid Adjustment
Versatrax 150™ Camera Height / Skid Adjustment Rear Camera: The rear camera must be removed for 150 mm (6 in) pipe but may remain in place for 200 – 300 mm (8 – 12 in) pipe. Camera Adjustment: There are four standard sizes of camera height adjustments; 150, 200, 250, and 300 mm (6, 8, 10 and 12 in). -
Page 45: Rear Camera Installation
The Sapphire camera uses a higher voltage and different pin-out than the Amber camera which is used on other Eddyfi Technologies equipment. You cannot use the Amber with the Versatrax system. Attempts to install the Amber camera will damage the connector and burn out the camera. -
Page 46: Operation
Versatrax 150™ Operation Pre-Operations Check Before each deployment of the Versatrax™ system, ensure everything is completed on the following checklist: ❑ Verify that the work area has been safely set up. ❑ Verify that the line voltage available at the worksite matches the equipment setup. ❑... -
Page 47: Post-Operations Check
Versatrax 150™ Post-Operations Check A Post-Ops inspection should be carried out after every deployment using the following checklist: ❑ Inspect the tether for damage as it is reeled in. ❑ Visually inspect vehicle for entrained debris or mechanical damage. ❑ Test each function to ensure proper operation. ❑... -
Page 48: Ground Fault Detection & Alarms
Versatrax 150™ Ground Fault Detection & Alarms The front of the high voltage power supply includes power on and off buttons as well as status indicators. The ON button and status indicators will light green during normal operation. The two red fault indicators may light momentarily during startup and shut down;... -
Page 49: Dealing With Obstacles
Versatrax 150™ Dealing With Obstacles The operator will invariably encounter a range of obstacles in a pipe. Each time the operator must decide if the vehicle can safely pass or if there is risk of getting stuck. Common obstacles include but are not limited to: •... -
Page 50: Vehicle Recovery
Versatrax 150™ Vehicle Recovery The Versatrax™ vehicle is designed for quick, efficient recovery by using the winch to tow it out of the pipe. Just how quickly recovery can proceed will depend on the condition of the pipe and how far the vehicle has traveled. -
Page 51: Emergency Recovery
Camera pan or tilt does not function in one or both directions. Check that the camera is not jammed. If you can hear a motor running but see no movement, there is a gearing or clutch problem inside the camera. Contact Eddyfi Technologies. • Camera is moving very slowly. -
Page 52: Video Problems
Versatrax 150™ Video Problems • No video (black or blue background) Interface box is not turned on. Video cables are not hooked up between interface box and computer. Camera connector on vehicle is loose (turn power off first before plugging in camera). Check that the camera harness whip is plugged into the correct socket on the telemetry can. -
Page 53: Winch Problems
Versatrax 150™ Try restarting ICON™ Listen for the track motors. If the motors run but the track doesn’t turn there is a problem with the gearing or shaft pins. Try changing tracks. (ICON will require a restart.) • Camera Raise will not move. For each time the system is turned on, the camera raise will not move until it is zeroed. -
Page 54: Maintenance
Versatrax 150™ Maintenance Rinsing and Cleaning After every mission check to see if the vehicle needs cleaning. 1. If the system has been used in salt water, thoroughly rinse the vehicle with fresh water prior to being stored away. Accelerated corrosion will result if the inspection system is not rinsed properly. -
Page 55: Tether Re-Termination
2569 Kenworth Road, Suite C Nanaimo, BC, V9T 3M4 CANADA TF 1.877.468.5886 T +1.250.729.8080 info@eddyfi.com www.eddyfitechnologies.com Eddyfi Technologies – US (American Authorized Distributor and Service Centre) 812 W 13th Street Deer Park, TX, 77536 T +1.281.542.3292 info@eddyfi.com www.eddyfitechnologies.com Document: UMDW014058.docm... -
Page 56: Warranty Repairs
Warranty claims must return to the factor for evaluation. To return an item for evaluation or repair, first contact Eddyfi Technologies at our toll-free number or e- mail address. Eddyfi Technologies will supply a Return Merchandise Authorization (RMA) number with detailed shipping and shipping/customs instructions. -
Page 57: Limited Warranty Policy
The foregoing constitutes the sole and exclusive remedy of the purchaser and the exclusive liability of Eddyfi Technologies and is in lieu of any and all other warranties, express, implied or statutory as to merchantability, fitness for purpose sold, description, quality productiveness, or any other matter. Under no circumstances shall Eddyfi Technologies be liable for special, incidental or consequential damages, or for delay in performance of this warranty.
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