Jireh tripod User manual

User Manual
Motorized Tank & Vessel Scanner

Page 2 of 21TriPod User Manual AA0277.indd REV 04
KEEP THIS MANUAL – DO NOT LOSE
THIS MANUAL IS PART OF THE TRIPOD SYSTEM AND MUST BE KEPT FOR THE LIFE OF
THE PRODUCT. PASS ON TO SUBSEQUENT OWNERS.
Ensure any amendments are incorporated with this document.
DANGER! The TriPod is designed for a specic use. Using the TriPod outside of its
intended use is dangerous. Severe injury or death could result. Read and understand this
manual before using.
SAFETY WARNINGS / PRECAUTIONS
DANGER! FALLING OBJECT HAZARD. Failure to comply with the warnings,
instructions, and specications in this manual could result in SEVERE INJURY or DEATH.
DANGER! FALLING OBJECT HAZARD. The area below an operating crawler must
be kept clear at all times. A clearly marked NO ENTRY ZONE must be cordoned off directly
below the area of crawler operation, in accordance with Section 2.5 “No Entry Fall Zone.”
DANGER! Do NOT operate or place crawler on a surface higher than 2m (6’)
without a proper tether held taut at all times. Refer to Section 2.6 “Tether Requirements and
Attachment.”
DANGER! Hook the tether hook to the provided lifting sling BEFORE placing the
crawler on the surface to be inspected (i.e. tank). IMPORTANT: Tether hook must have a
safety latch to prevent accidental disconnection.
WARNING! MAGNETIC MATERIAL. The wheels on the crawler produce an
extremely strong magnetic eld which may cause failure or permanent damage to items such
as watches, memory devices, CRT monitors, medical devices, or other electronics. Tools,
magnets, and metal objects can cut, pinch, or entrap hands and ngers. HANDLE WITH
CARE. People with pacemakers or ICD’s must stay at least 2m (79’’) away.
CAUTION! MAGNETIC MATERIAL. Due to magnetic material, consult IATA
documentation before air shipping.
WARNING! Do NOT operate crawler in an explosive environment. Do NOT
operate crawler in the presence of volatile substances.
The WEEE symbol indicates that the product must not be disposed of as unsorted municipal
waste, but should be collected separately.

Page 3 of 21TriPod User Manual AA0277.indd REV 04
DANGER! FALLING OBJECT HAZARD. The area below an operating crawler must be kept
clear at all times. A clearly marked NO ENTRY FALL ZONE must be cordoned off directly below the area of
crawler operation.
The area below an operating crawler must be kept clear at all times. A clearly marked NO ENTRY FALL
ZONE must be cordoned off directly below the area of crawler operation, according to the dimensions
shown below.
Example: If inspecting a tank that is 6m (20ft) tall, the No Entry Fall Zone radii must be no smaller than
3m (10ft) from the area below the area of crawler operation.

Page 4 of 21TriPod User Manual AA0277.indd REV 04
1. TriPodSpecications...........................................................................................................5
1.1. Intended Use..........................................................................................................................................5
1.2. Intended User ........................................................................................................................................5
1.3. Dimensions and Weight .........................................................................................................................5
1.4. Performance Specications ..................................................................................................................6
1.5. Power Requirements .............................................................................................................................6
1.6. Operating Environment ..........................................................................................................................6
1.7. Unintended Use .....................................................................................................................................6
2. PreparationforUse..............................................................................................................7
2.1. Transportation ........................................................................................................................................7
2.2. Scanner Component Identication.........................................................................................................7
2.3. Connecting the Components .................................................................................................................8
2.4. Additional Components..........................................................................................................................9
2.4.1. Encoder .............................................................................................................................................................. 9
2.4.2. Probe Lift .......................................................................................................................................................... 10
2.4.3. Pump System ................................................................................................................................................... 10
2.5. Optional Equipment .............................................................................................................................10
2.5.1. Video Camera................................................................................................................................................... 10
2.6. Tether Requirements and Attachment.................................................................................................. 11
2.7. No Entry Fall Zone ...............................................................................................................................12
2.8. Preparation of Inspection Surface........................................................................................................12
3. OperatingInstructions.......................................................................................................13
3.1. Controller Layout..................................................................................................................................13
3.1.1. Main Menu........................................................................................................................................................ 13
3.1.2. User Settings.................................................................................................................................................... 14
3.1.3. Setting Edit Mode ............................................................................................................................................. 14
3.1.4. Diagnostic Mode............................................................................................................................................... 14
3.2. System Start-up ...................................................................................................................................16
3.2.1. System Start-up Overrides ............................................................................................................................... 16
3.3. Placement of Crawler on Inspection Surface.......................................................................................16
3.4. Operating .............................................................................................................................................17
3.5. Removal of Crawler from Inspection Surface ......................................................................................17
4. Maintenance .......................................................................................................................18
4.1. Safety Precautions before Maintenance ..............................................................................................18
4.2. Maintenance Schedule ........................................................................................................................18
5. Troubleshooting.................................................................................................................19
5.1. Retrieval of a Stranded Crawler...........................................................................................................19
6. ServiceandRepair.............................................................................................................20
6.1. Drive Wheel Removal / Installation ......................................................................................................20
6.2. Technical Support ................................................................................................................................20
7. SpareParts ........................................................................................................................21
JirehIndustriesLtd.
53158RangeRoad224
Ardrossan,Alberta,Canada
T8E 2K4
Phone:(780)922-4534
Fax: (780)922-5766
www.jireh-industries.com
DISTRIBUTOR: MANUFACTURER:
TableofContents

Page 5 of 21TriPod User Manual AA0277.indd REV 04
1. TriPodSpecications
1.1. IntendedUse
The TriPod is a remote operated vehicle with magnetic wheels suitable for driving on ferrous material. Its
primary purpose is to move inspection equipment over areas of structures, such as tanks or pipes, made
from ferrous materials.
The intended ferrous surface is to:
• be bare metal for up-side-down surfaces, or
• be coated to a thickness no greater than:
o 0.5mm (.020”) for vertical surfaces
o 1mm (.040”) for horizontal surfaces on which the crawler is right-side-up
• be free of excess rust, scale, ferrous debris, ice, frost
• have a minimum thickness of 5mm (0.200”)
• have a minimum radius of curvature of 2m (6’) for inside a tank
• have a minimum radius of curvature of 1m (3’) for outside a tank or pipe
The TriPod is intended to:
• be used by trained personnel. See 1.2 “Intended User”;
• operate in an environment as described in 1.6 “Operating Environment”;
• operate with a proper tether system. See 2.5 “Tether Requirements and Attachment”.
1.2. IntendedUser
For operating at a height greater than 2m (6’), the TriPod is intended to be used by two people:
• a person who is trained in rigging and fall protection and is able to effectively apply the same safety
principals to the crawler.
• a person who is trained to control the crawler.
The TriPod is intended to be used by persons without limitations in the physical abilities of the upper and
lower limbs, sight, hearing, and anyone with a pacemaker or ICD.
1.3. DimensionsandWeight
Crawler Weight*: 13.6 kg 30 lbs
Crawler Dimensions*: 46 x 40 x 19cm 18” x 15.5” x 7.5”
Shipping Weight, Crawler case: 33.5 kg 74 lbs
Shipping Dimensions, Crawler case: 66 x 54 x 33cm 26” x 21” x 13”
Shipping Weight, Power Supply case: 11.4 kg 25 lbs
Shipping Dimensions, Power Supply case: 51 x 41 x 21cm 20” x 16” x 8”
Shipping Weight, Pump case**: 5.9 kg 24 lbs
Shipping Dimensions, Pump case** 64 x 54 x 23 cm 25” x 21” x 9”
*excluding case, attachments, umbilical, power supply, and control pendant
** excluding umbilical

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1.4. PerformanceSpecications
Vertical Payload*: 10 kg 23 lbs
Umbilical Length**: 30 m 100 ft
Max Controller Cable Length**: 30 m 100 ft
Travel Speed: 0 - 18 m/min. 0 - 60 ft/min.
*attachments and umbilical are considered part of payload
**contact Jireh Industries for custom cable lengths
1.5. PowerRequirements
WARNING! A reliable power source must be used for powering the crawler.
Connections must be secured to prevent accidental disconnection. Power failure may cause the
crawler to freewheel down if operating in a vertical orientation. Portable generator usage is not
recommended unless accompanied by the use of an uninterruptible power supply system.
WARNING! Proper grounding of the power supply is important for safe operation. If
a generator is being used to supply power to the system (not recommended), the generator must be
properly grounded (see the generator manual).
Power Requirements: 85-264VAC, 45-65Hz, 5 Amps
NOTE: The TriPod power supply automatically adjusts to the supplied voltage.
1.6. OperatingEnvironment
The TriPod is designed for use in an industrial environment that is:
• dry or damp (the crawler its self is rated to IP67);
• between -20°C and 50°C;
• free of explosion or re hazards.
1.7. UnintendedUse
DANGER! FALLING OBJECT HAZARD. Using the TriPod outside of its intended use is
dangerous. Severe injury or death could result. Do NOT use the TriPod as listed below!
The TriPod is NOT intended for:
• operation on surfaces that are not clean. (e.g. excess rust, scale, ferrous debris, ice, frost);
• lifting / lowering objects or people (I.e. using the crawler as a crane / elevator);
• driving into obstructions;
• operating in ambient temperatures below -20°C or above 50°C;
In addition to the above points, for operating at a height greater than 2m (6’), the crawler is not intended
for:
• operation without a proper tether system;
• operating up-side-down;
• operating while oriented such that the umbilical strain relief points upwards, or at worst, horizontal
(front of the TriPod is lower than the umbilical connection).

Page 7 of 21TriPod User Manual AA0277.indd REV 04
2. PreparationforUse
2.1. Transportation
CAUTION! MAGNETIC MATERIAL. Due to magnetic material, consult IATA
documentation before air shipping.
CAUTION! PINCH / CRUSH HAZARD. BE CAREFUL when passing the TriPod
crawler through narrow ferrous (magnetic) openings, such as man-holes. The magnetic Drive Wheels
can cause bodily harm if allowed to slam onto the walls of the opening.
2.2. ScannerComponentIdentication
Figure1-TriPod(crawler) Figure2-PowerSupply Figure3-Umbilical
Figure4-Controller Figure5-ControllerCable
Figure6-ScannerInstallationMat
Figure7-PumpSystem

Page 8 of 21TriPod User Manual AA0277.indd REV 04
2.3. ConnectingtheComponents
WARNING! MAGNETIC MATERIAL. The wheels on the crawler produce an extremely
strong magnetic eld which may cause failure or permanent damage to items such as watches,
memory devices, CRT monitors, medical devices, or other electronics. Tools, magnets, and metal
objects can cut, pinch, or entrap hands and ngers. HANDLE WITH CARE. People with pacemakers
or ICD’s must stay at least 2m (79’’) away.
WARNING! ELECTRICAL CORDS CAN BE HAZARDOUS. Misuse can result in re or
death by electrical shock. Inspect thoroughly before each use. Do NOT use if damaged. Do NOT use
when wet. Keep away from water. Do NOT drive, drag, or place objects over cord.
WARNING! POWER MUST BE DISCONNECTED. Ensure that the power supply is
disconnected from the power source when connecting components. If powered, a spark could occur
resulting in explosion and/or re.
PowerSupplytoUmbilical
The power supply is to be connected
to a 85-264VAC, 45-65Hz, 5A power
source using the standard three prong
plug. The umbilical is connected to
the receptacle located on top of the
power supply via the twelve pin bayonet
connector (see Fig. 8). Output of the
power supply is 24VDC, 20A. Figure8-P/StoUmbilical
CrawlertoUmbilical
Power and control signals are supplied
to the crawler by connecting the 19
pin military style plug connector to
the corresponding receptacle on the
umbilical. Secure this connection by
threading the outer ring on the umbilical
side to the connector on the crawler.
(1) quick connect hose and (4) BNC
connectors coming from the umbilical
are also to be connected to the Tri
Pod. The BNC jacks located on the
rear bulkhead are stamped Y, W, R, G.
These correspond to the colored cables
of the umbilical (Y is yellow etc.).
Figure9-CrawlerConnected Figure10-Hose&BNCConnectors
ControllertoUmbilical
The controller is connected via a control
cable with a six pin quick connector on
each end. One end is to be connected
to the plug on the top of the controller
(see Fig. 11) while the other end is
connected to the plug on the umbilical
labeled ‘CTRL’ (see Fig.12). Both
ends of the control cable are identical;
therefore, either end can be connected
to either component. Standard length for
the control cable is 20ft, although longer
lengths are available. Figure11-HandHeldController

Page 9 of 21TriPod User Manual AA0277.indd REV 04
UmbilicalBellExplained
Figure12-UmbilicalBell
2.4. AdditionalComponents
2.4.1. Encoder
The standard encoder provides 88.26925 pulses/inch (3.4752pulses/mm) or 353.077counts/inch
(13.9007counts/mm) with 4x quadrature decode. The output is a RS422 compatible line driver.
Note: the type of output is factory congured and cannot be changed by the user.
Encoder readout can be viewed on the hand held controller or through the encoder output located on the
umbilical.
Wiring
Connections to the encoder are done through a six pin circular connector located in the umbilical end bell.
Pin# RS422LineDriver
1
2 Enc B
3 Enc B’
4Enc A
5Enc A’
6 Common

Page 10 of 21TriPod User Manual AA0277.indd REV 04
2.4.2. ProbeLift
InstallingtheProbe
To install the probe (not included) in the holder, loosen the clamp screw (see Fig. 19; item #21) and the
clamp mount screw adjacent to it (to allow the clamp to open up). Slide the probe in through the hole and
set the height appropriately. Tighten the clamp screw and clamp mount screw.
Note: different sizes of probe holders are available.
Lifting/LoweringtheProbe
The probe lift actuator is controlled by the ‘A’ push
button on the controller (see Fig. 17). This button will
both lower and raise the probe accordingly.
ConnectingtheProbe
Connect the probe (not included) by threading the
yellow and red connector leads onto the top of the
probe. The outputs of these leads are located on the
umbilical (see Fig. 12).
Figure13-ProbeConnection
2.4.3. PumpSystem
The pump system is used to feed couplant uid through the umbilical to the probe on the crawler.
Note: Do not assume uid compatibility. Check with pump manufacturer to ensure the uid to be pumped
is suitable for this particular pump. E.g. do not use windshield washer uid (it is very corrosive and may
void the manufacturer’s warranty).
ConnectingthePumpSystem
To connect the pump system to the Tri Pod, simply connect the hose from the pump to the uid hose
connector on the umbilical. The pump system is required to be plugged into a GFCI 120VAC 60Hz power
source.
2.5. OptionalEquipment
2.5.1. VideoCamera
The integrated video option includes an industrially
rugged, sealed, colour, solid state, wide angle video
camera complete with adjustable LED lighting.
Mounting
Mount the camera to the Tripod using the provided
quick-connect STIX components (see Fig 19; items #3,
#4, #5).
Connection
Connect the camera connector to the back of the
camera. Connect the power connector to the connector
in the front of the Tripod. Ensure the green ying lead
BNC connector on the umbilical is connected to the
BNC connector on the camera (see 2.3 – connecting
the components).
Connect the BNC-to-RCA adapter to the Green
connection on the umbilical (see Fig. 12). Connect the
RCA cable to the adapter.
Connect the RCA cable to a suitable display or
converter. Output from the camera is standard NTSC
video which is compatible with standard line input video
devices such as televisions, video recorders, etc.
Figure14-CameraMounted