Eddyfi TriTrax 200 Bedienungsanleitung

Eddyfi Robotics Inc.

2569 Kenworth Road, Suite C

Nanaimo, BC, V9T 3M4

CANADA

+1.250.729.8080

info@eddyfitechnologies.com

www.eddyfitechnologies.com

TriTrax™ 200

Vertical Crawler Inspection Vehicle

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 2 of 36

User Manual

Table of Contents

About This Manual........................................................................................................................................4

Description ....................................................................................................................................................4

Specifications............................................................................................................................................5

Precautions...............................................................................................................................................5

Certification...............................................................................................................................................6

Safety........................................................................................................................................................6

Intended Use.............................................................................................................................................7

System Setup................................................................................................................................................8

Personnel Requirements..........................................................................................................................8

Working and Storage Environment...........................................................................................................8

System Power.........................................................................................................................................10

Power Requirements ...........................................................................................................................10

Generators / Inverters..........................................................................................................................10

ICON™ Portable Controller....................................................................................................................10

Interface Box Connection .......................................................................................................................10

Vehicle and Tether Connection ..............................................................................................................11

Portable Reel Setup................................................................................................................................13

Mini-Reel Setup ......................................................................................................................................14

Tether Handling ......................................................................................................................................15

Connector Handling................................................................................................................................15

SubConn Connector: Lubrication and Cleaning ..................................................................................16

Impulse Connector: Lubrication and Cleaning.....................................................................................16

Vehicle Configuration..................................................................................................................................17

Front Camera Removal / Installation......................................................................................................17

Size Configuration ..................................................................................................................................18

Operation.....................................................................................................................................................23

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 3 of 36

User Manual

Pre-Operations Check ............................................................................................................................23

Post-Operations Check...........................................................................................................................24

ICON™ Software ....................................................................................................................................25

ICON™ Control Panel..........................................................................................................................25

Three-Track Operation ...........................................................................................................................25

Vertical Crawler Expand & Contact Force..............................................................................................26

Dealing with Obstacles ...........................................................................................................................27

Inspection Guidelines .............................................................................................................................28

Vehicle Recovery....................................................................................................................................28

Troubleshooting......................................................................................................................................29

Camera Control Problems ...................................................................................................................29

Video Problems....................................................................................................................................29

Vehicle Problems.................................................................................................................................30

Reel Problems .....................................................................................................................................30

Maintenance................................................................................................................................................31

Galvanic Corrosion Control.....................................................................................................................31

Rinsing and Cleaning..............................................................................................................................32

Microtrac™ Maintenance........................................................................................................................32

Camera Maintenance .............................................................................................................................32

Tether Re-termination.............................................................................................................................32

Diameter and Force Feedback Calibration.............................................................................................33

Diameter Feedback Calibration ...........................................................................................................33

Force Feedback Calibration.................................................................................................................34

Parts and Repairs .......................................................................................................................................35

Ordering Parts/Customer Service...........................................................................................................35

Warranty Repairs ........................................................................................................................................36

Factory Returns to Canada.....................................................................................................................36

Product/System Drawing Package Availability.......................................................................................36

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 4 of 36

User Manual

Limited Warranty Policy..........................................................................................................................36

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 endeavor 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 or site regulations.

Description

The TriTrax™ 200 Vertical Crawler system is a Microtrac™ 4000 based vehicle used for navigating pipes of

200 –400 mm (8 –16 in) internal diameter with the camera centered. The crawler can travel vertically in the

pipe up or down.

The inspection system has been manufactured with the hazards and demands of pipe inspection in mind. A

minimized vehicle profile provides maximum clearance for passage of service intrusions in the pipe. The

vehicle employs marine technology for underwater operation down to a depth of 30 m (100 ft).

The TriTrax™ 200 can also be used in dry environments. The rugged design ensures a long service life and

helps protect the vehicle from damage during normal use.

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 5 of 36

User Manual

Specifications

Minimum Vehicle

Dimensions

Base Configuration: No Spacers

Ø200 mm x 425 mm Long (8 x 16.7 in)

Vehicle Weight1

Base Configuration

8.5 kg (19 lb)

Depth Rating

30 m (100 ft)

Pipe Size

Range2

Base Configuration: No Spacers

Ø203mm to Ø305mm (8” to 12”) pipe

Extension 50mm (2 inch) spacers

Ø305mm to Ø405mm (12” to 16”) pipe

Extension 75mm (3 inch) spacers

Ø355mm to Ø455mm (14” to 18”) pipe

Min Bend

Radius3

8-Inch Pipe

610mm (24 in) Radius IN 200 mm (8 in) pipe

12-Inch Pipe

460mm (18 in) Radius IN 305 mm (12 in) pipe

Maximum Tether Length4

300 m (1,000 ft)

Tracks

3x Microtracs™4000

Camera

Front

Spectrum™45 Pan & Tilt

Rear

Onyx™

Lights

2x 801 Lights

Reel

Optional portable tether reel with payout encoder

Power Requirements

100 –240 VAC 50/60Hz, 5A

Operating Temperature

0 –40 ºC (32 –122 ºF)

Storage Temperature

-20° –60 ºC (-4 –140 ºF)

Weights may vary depending on optional components

2Specified pipe sizes are internal diameters

3Using 10-pin Connector. In general, as pipe size increases Min Bend Radius decreases

4Actual travel distance may be decreased depending on inspection geometry (traction and number of bends)

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.

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 6 of 36

User Manual

Certification

The TriTrax™ 200 system is built in accordance with the Low Voltage Directive 2014/35/EU, Machinery

Directive 2006/42/EC, and Electromagnetic Compatibility Directive 2014/30/EU.

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 equip-

ment.

CAUTION: Failure to follow these safety instructions may result in injury or equip-

ment damage.

WARNING: Hazardous Voltage 36-70 VDC. Do not power the vehicle from any

source other than an Eddyfi controller intended for that vehicle.

WARNING: Intense Optical Radiation - The Spectrum camera lights, and 801

lights are extremely bright. Never look directly at the lights. Use a welding filter

(shade #8 or higher) if inspecting the LEDs.

•When performing maintenance or functional checks of the camera lights, take precautions to pro-

tect nearby personnel from unintended exposure which could be temporarily blinding.

•Observe safe lifting practices. For storage and shipping, the TriTrax™ 200 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 haz-

ard.

•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.

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 7 of 36

User Manual

•All personnel operating or maintaining this equipment must be trained and competent.

•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,

operating procedures and personal protective equipment (PPE) for safe deployment, operation and

maintenance of the equipment.

WARNING: Spark Hazard - Under no circumstances should this equipment be

used in a potentially explosive atmosphere.

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 be-

come extremely hot during operation. Allow a cool-down period before handling.

WARNING: Mechanical Pinch Hazard –Rotating or moving components can draw

fingers into a pinch position. Do not handle the vehicle while mobile parts are run-

ning, turn off power or disconnect the tether while reconfiguring or maintaining the

vehicle.

Intended Use

The TriTrax™ 200 is an industrial inspection vehicle intended for crawling vertically or horizontally inside

pipes which may be dry or flooded up to 30m (100 ft.)

Typical applications include inspection of:

•Sewer and storm drains

•Hydroelectric pipe and infrastructure

•Steam headers

•Tanks and pressure vessels

•Oil and gas refineries and pipelines

•Pulp and paper mills

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 8 of 36

User Manual

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

System Setup

Personnel Requirements

Basic deployment of the TriTrax™ 200 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 pipe and

making comments about the location and pipe condition. It is also the operator’s responsibility to

assess whether a pipe 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 pipe

oLowering the vehicle in and out of the manhole

oWatching the tether as the vehicle enters and exits the pipe

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 (IC™ 450 Portable Controller or Interface Box 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.

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 9 of 36

User Manual

The tether and vehicle are depth rated to 30 m (100 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 is 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.

Refer to the Specifications section for operating and storage temperatures.

TriTrax™ 200 Vertical Crawler

Document: UMDT017749.docm

Revision: A02

Created by: JS

Date: 13 Apr 2021

IPN: 3094329-A02

Source Location: C:\ePDM\ISLEng\Products\DT-VersaTrax100MkII\Manuals\UMDT017749.docm

Page 10 of 36

User Manual

System Power

Power Requirements

The TriTrax™ 200 is operated through an IC™ 450 Portable Controller or Interface Box. The interface box

provides power to the tether and vehicle. Refer to the ICON™ Portable Controller User Manual for input

power ratings.

Generators / Inverters

If powering the system from a generator or inverter, refer to that unit’s operating manual for recommenda-

tions 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 any other

connected devices (external monitors, recording devices, lighting, etc.) when selecting a generator or in-

verter.

ICON™ Portable Controller

The ICON™ portable controller is a combined PC-Based vehicle controller and power supply. No other

equipment is required to operate the vehicle. Refer to the Controller Setup section of the ICON™Portable

Controller User Manual for instructions on connecting a vehicle to the controller.

Interface Box Connection

Optionally, the TriTrax™ 200 may be operated through a PC or laptop computer running ICON software.

To connect to and power the vehicle, an interface box is required. To set up an PC based control system

with an Interface box, do the following;

Set-up:

1. Connect the interface box to AC power using an equipment power cord.

2. Connect the tether (or reel deck cable).

3. Connect the communication port to the control computer using a USB cable.

4. Connect video equipment as needed (monitors, recording devices, etc).

a. Front camera: Top row RCA jacks A, B, C.

b. Rear camera: Bottom row RCA jacks D, E, F.

The interface box may be ordered with optional features such as video capture to USB or video format

conversion. Additional connectors may be present on the rear center panel of the enclosure.

1. Connect SD Video A port to control computer using USB3 cable for front camera video capture.

2. Connect SD Video B port to control computer using USB3 cable for rear camera video capture.

IMPORTANT: USB3 cables are required for video capture (SD VIDEO A / B) to maintain video

quality.

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