Jireh SKOOT HT User manual
SKOOT
Automated Scanner
HT
DP0029 Rev 02.2
PAGE i of ix DP0029 Rev 02.2
SAFETY WARNINGS / PRECAUTIONS
WARNING! The SKOOT HT is designed for a specic use. Using
the SKOOT HT outside of its intended use is dangerous. Failure to comply
with the warnings, instructions, and specications in this manual could
result in SEVERE INJURY or DEATH. Read and understand this manual
before using.
KEEP THIS MANUAL – DO NOT LOSE
THIS MANUAL IS PART OF THE SKOOT HT SYSTEM AND MUST BE RETAINED FOR
THE LIFE OF THE PRODUCT. PASS ON TO SUBSEQUENT OWNERS.
Ensure any amendments are incorporated with this document.
WARNING! FALLING OBJECT HAZARD. The area below a
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.
(see No Entry Fall Zone on page 31 for additional details)
WARNING! Do NOT operate or place crawler on a surface higher
than 2 m (6 ft) without a proper tether held taut at all times.
(see Tether Requirements and Attachment on page 32 for additional details)
WARNING! ELECTRICAL CORDS CAN BE HAZARDOUS.
Misuse can result in FIRE 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! Do NOT operate scanner in an explosive environment.
Do NOT operate scanner in the presence of volatile substances.
PAGE ii of ix
WARNING! HOT SURFACE. The SKOOT HT crawler may reach
temperatures that may cause burns if contacted with bare skin. Wear heat
resistant safety gloves when handling.
WARNING! MAGNETIC MATERIAL. The wheels of 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 25 cm (10 in) away.
WARNING! MAGNETIC MATERIAL. The handheld controller
produces a strong magnetic eld which may cause failure or permanent
damage to items such as watches, memory devices, CRT monitors,
medical devices or other electronics.
People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.
WARNING! MAGNETIC MATERIAL. The handheld controller
produces a strong magnetic eld which may cause failure or permanent
damage to items such as watches, memory devices, CRT monitors,
medical devices or other electronics.
People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.
WARNING! The coolant used in this product contains a 50/50 blend
of ethylene glycol based automotive antifreeze and water. Consult the MSDS
for hazards associated with the use and handling of this coolant.
WARNING! FLAMMABLE. The coolant used in this product
contains a 50/50 blend of ethylene glycol based automotive antifreeze and
water which, in very specic conditions, may be ammable. If a leak
develops, remove the SKOOT HT from the hot surface immediately. Keep
ignition sources away from coolant vapors. Do not use system on surfaces
>350°C (662°F).
PAGE iii of ix DP0029 Rev 02.2
The WEEE symbol indicates that the product must not be disposed of as
unsorted municipal waste, but should be collected separately.
(see Disposal on page 138 for additional details).
CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power
before connection or disconnecting. Permanent damage to electronics could
occur.
EMERGENCY STOP. This symbol indicates emergency stop button.
CAUTION! DO NOT operate the SKOOT HT crawler on an
inspection surface which is electrically connected to a component that is
being welded.
WARNING! If this product is to be used with any Child Products
listed in (Chapter 2.3), be sure to read and comply with the warnings,
instructions, and specications in the Child Product’s User Manual(s).
WARNING! DO NOT DISASSEMBLE. No user-serviceable parts.
Disassembling any of the components in this product, beyond the instructions
in this user manual, could void the regulatory certications and/or effect the
safety of the product.
WARNING! LASER RADIATION. The battery powered optical
guide contains a Class 1M laser. Do not view directly with optical instruments.
PAGE iv of ix
Chapter1 Identification 1
1.1. Product Brand 1
1.2. Manufacturer 1
1.3. Compliance Declarations 1
1.3.1. ISED Emissions Compliance (Canada) 1
1.3.2. FCC Suppliers Declaration of Conformity (United States) 1
1.3.3. European Union CE Declarations 2
Chapter2 Product Specifications 3
2.1. Base SKOOT HT System 3
2.1.1. Intended Use 3
2.1.1.1 Operating Limits 4
2.1.1.2 Operating Environment 5
2.1.1.3 User 5
2.1.2. Unintended Use 6
2.1.3. Dimensions and Weight 7
2.1.4. Power Requirements 8
2.1.5. Environmental Sealing 8
2.1.6. Performance Specifications 9
2.1.7. Encoder Interface Specifications 9
2.2. Compatible Components 10
2.2.1. Low Profile Probe Holder Frame 10
2.2.1.1 Intended Use 10
2.2.1.2 Operating Limits 10
2.2.2. Vertical Probe Holder Frame 10
2.2.2.1 Intended Use 10
2.2.2.2 Operating Limits 10
2.2.3. Pivoting Probe Holder Frame 11
2.2.3.1 Intended Use 11
2.2.3.2 Operating Limits 11
2.2.4. Frame Bar 11
2.2.4.1 Intended Use 11
2.2.4.2 Operating Limits 11
2.2.5. Slip Joint Probe Holder 12
2.2.6. Vertical Probe Holder 12
2.2.7. Heavy Duty Vertical Probe Holder 12
2.2.8. Corrosion Thickness Probe Holder HT 12
2.2.9. SKOOT HT Extension Kit 12
TABLE OF CONTENTS
PAGE v of ix DP0029 Rev 02.2
2.2.10. Battery Powered Optical Guide 13
2.2.10.1 Intended Use 13
2.2.10.2 Operating Environment 13
2.2.10.3 Power Requirements 13
2.2.10.4 Environmental Sealing 13
2.2.11. Encoder Adapter 13
2.3. Child Products 14
2.3.1. Motorized Couplant Pump 14
2.3.2. Motorized Raster Arm HT 14
2.3.3. Battery Kit 14
Chapter3 Definitions 15
3.1. Definitions of Symbols 15
3.2. Safety Symbols 15
3.3. Safety Signal Words 16
Chapter4 System Components 17
4.1. Component Identification 17
4.1.1. Base System 17
4.1.2. Compatible Components 19
4.1.3. Child Products 20
4.2. Tools 21
4.2.1. Included Tools 21
4.2.2. Optional Tools 21
4.3. Base System Components 22
4.3.1. Crawler 22
4.3.1.1 Emergency O Button 22
4.3.2. Power Controller 23
4.3.2.1 AC/DC Power Supply 24
4.3.3. SKOOT HT Umbilical 25
4.3.4. Handheld Controller 25
4.3.5. Manipulation Handle 25
4.3.6. Auxiliary Cables 26
4.3.7. J300 Encoder Cable 26
4.3.8. Irrigation Kit 26
4.3.9. HT Cable Management 26
4.3.10. Cooler 27
4.3.11. Hoses 27
4.3.12. Tools 27
4.3.13. Cases 27
4.4. Compatible Components 28
PAGE vi of ix
4.4.1. Low Profile Probe Holder Frame 28
4.4.2. Vertical Probe Holder Frame 28
4.4.3. Pivoting Probe Holder Frame 28
4.4.4. Frame Bar 28
4.4.5. Slip Joint Probe Holder 28
4.4.6. Vertical Probe Holder 29
4.4.7. Heavy Duty Vertical Probe Holder 29
4.4.8. Corrosion Thickness Probe Holder HT 29
4.4.9. SKOOT HT Extension Kit 29
4.4.10. Battery Powered Optical Guide 29
4.4.11. Encoder Adapter 30
4.5. Child Products 30
4.5.1. Motorized Couplant Pump 30
4.5.2. Motorized Raster Arm HT 30
4.5.3. Battery Kit 30
Chapter5 Preparation for Use 31
5.1. Transportation 31
5.2. Preparation for Safe Use 31
5.2.1. No Entry Fall Zone 31
5.2.2. Tether Requirements and Attachment 32
5.3. Preparation of Inspection Surface 33
5.4. System Connectivity 34
5.5. Configurations 36
5.5.1. Crawler with Multiple Probe Holders 36
5.5.1.1 Low Profile Probe Holder Frame 36
5.5.1.2 Vertical Probe Holder Frame 38
5.5.1.3 Pivoting Probe Holder Frame 40
5.5.1.4 Flange 42
5.6. Crawler 44
5.6.1. Swivel Mount 44
5.6.2. Umbilical 45
5.6.3. Handle 46
5.6.4. Emergency O Button 47
5.6.5. Cable Retainer 48
5.6.6. Manipulation Handle 48
5.6.7. Quick Connect Fitting 49
5.7. Handheld Controller 49
5.7.1. Magnetic Mounts 49
5.8. Probe Holder 50
5.8.1. Heavy Duty Vertical Probe Holder 50
PAGE vii of ix DP0029 Rev 02.2
5.8.1.1 Probe Holder Setup 50
5.8.1.2 Probe Holder Vertical Adjustment 52
5.8.1.3 Probe Holder Left/Right Conversion 53
5.8.1.4 Probe Holder 90° Adjustment 54
5.8.2. Vertical Probe Holder 55
5.8.2.1 Probe Holder Setup 55
5.8.2.2 Probe Holder Vertical Adjustment 56
5.8.2.3 Probe Holder Transverse Adjustment 57
5.8.2.4 Probe Holder Longitudinal Adjustment 58
5.8.2.5 Probe Holder Left/Right Conversion 59
5.8.3. Slip Joint Probe Holder 61
5.8.3.1 Probe Holder Setup 61
5.8.3.2 Probe Holder Adjustment 63
5.8.3.3 Probe Holder Force Adjustment 63
5.8.3.4 Slip Joint Probe Holder Left/Right Conversion 65
5.9. Probe Holder Frames 67
5.9.1. Low Profile Probe Holder Frame - Flat or Circumferential Only 67
5.9.2. Vertical Probe Holder Frame - Flat or Circumferential Only 71
5.9.3. Pivoting Probe Holder Frame 75
5.9.3.1 Mounting a Pivoting Probe Holder Frame 76
5.9.4. Pivoting Probe Holder Frame Setup - Longitudinal Scanning 77
5.9.4.1 Longitudinal Scanning 77
5.9.4.2 Circumferential Scanning 78
5.9.4.3 Pivoting Probe Holder Frame - Flange Scanning 79
5.9.5. Battery Powered Optical Guide Pivot Mount 82
5.10. HT Cable and Hose Management 83
5.10.1. Mounting the HT Cable Management 83
5.10.2. Cable Management Setup 84
5.10.3. Clamp Setup 85
5.10.4. Hose Connection and Routing 85
5.10.5. Disconnecting Hoses 86
5.11. Accessories 87
5.11.1. Battery Powered Optical Guide 87
Chapter6 Operation 88
6.1. System Startup 88
6.2. Placement of Crawler on Inspection Surface 90
6.3. Removal of Crawler from Inspection Surface 93
6.4. Operation 95
6.4.1. Handheld Controller Layout 95
6.4.1.1 Touchscreen 96
6.4.1.2 D-pad 96
PAGE viii of ix
6.4.1.3 Joysticks 96
6.4.2. Mode Select Screen 97
6.4.3. Jog Mode 97
6.4.4. Latched Jog Mode 99
6.4.5. 1 Axis Scan Mode 100
6.4.5.1 1 Axis Scan Screen 101
6.4.6. Cooler Mode 103
6.4.7. Cooler Warnings 105
6.4.8. System Utilities Screen 106
6.4.8.1 User Settings Screen 106
6.4.8.2 Diagnostics Screens 107
6.4.8.2.1 Detected Modules 108
6.4.8.2.2 System 1 108
6.4.8.2.3 System 2 109
6.4.8.2.4 System 3 109
6.4.8.2.5 Skoot-L 110
6.4.8.3 Touch Calibration Screen 111
6.4.8.4 Joystick Calibration Screen 111
6.4.8.5 Draw 112
6.4.9. High Internal Temperature Screen 113
Chapter7 Maintenance 114
7.1. Safety Precautions Before Maintenance 114
7.2. Cleaning 114
7.3. Maintenance Schedule 115
Chapter8 Troubleshooting 116
8.1. Startup Issues 116
8.1.1. Joystick O Center 116
8.1.2. Checking Network 117
8.2. Startup Override 117
8.2.1. Scan Devices 118
8.2.2. Reset Parameters 119
8.2.3. System Parameters 119
8.2.4. Device Address 119
8.3. Additional Issues 120
8.4. Retrieval of a Stranded Crawler 121
Chapter9 Service and Repair 122
9.1. Technical Support 122
PAGE ix of ix DP0029 Rev 02.2
Chapter10 Spare Parts 123
10.1. SKOOT HT Crawler 123
10.2. SKOOT HT Kit Components 124
10.2.1. Encoder Connector Type 126
10.2.2. Power Cord Type 126
10.3. Hose Spare Parts 127
10.4. Probe Holder Frame 128
10.5. Low Profile Probe Holder Frame 129
10.6. Pivoting Probe Holder Frame 130
10.7. Slip Joint Probe Holder Parts 131
10.8. Vertical Probe Holder Parts 132
10.9. Heavy Duty Vertical Probe Holder 133
10.10. Corrosion Thickness Probe Holder HT 134
10.11. Probe Holder Components 135
10.11.1. Arm Style 135
10.11.2. Yoke Style 135
10.11.3. Swing Arm Style 135
10.11.4. Heavy Duty Yoke Style 135
10.11.5. Pivot Button Style 135
10.12. Variable Components 136
10.12.1. Frame Bar 136
10.12.2. HT Cable Management Sleeving 136
10.13. Cases 137
Chapter11 Disposal 138
Chapter12 Limited Warranty 139
PAGE 1 of 140 DP0029 Rev 02.2
Chapter 1
IDENTIFICATION
1.1. Product Brand
The SKOOT HT is a remotely 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 in industrial
environments.
1.2. Manufacturer
1.3. Compliance Declarations
1.3.1. ISED Emissions Compliance (Canada)
CAN ICES-003(A) / NMB-003(A)
This Class A digital apparatus complies with Canadian ICES-003.
Cet appareil numérique de la classe A est conforme à la norme NMB-003 du Canada.
1.3.2. FCC Suppliers Declaration of Conformity (United States)
This device complies with Part 15 of the FCC Rules. Operation is subject to the
following two conditions: (1) this device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that
may cause undesired operation.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC Rules. These limits are
designed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates,
uses, and can radiate radio frequency energy and, if not installed and used in
accordance with the instruction manual, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to
cause harmful interference in which case the user will be required to correct the
interference at his own expense.
Distributor:
Jireh Industries Ltd.
53158 Range Road 224
Ardrossan, Alberta T8E 2K4
Canada
Phone: 780.922.4534
jireh.com
Manufacturer:
PAGE 2 of 140
RESPONSIBLE PARTY NAME: Jireh Industries
ADDRESS: 2955 S Sam Houston Pkwy E
Suite 300
Houston, Texas
United States 77047
TELEPHONE: 832-564-0626
1.3.3. European Union CE Declarations
Jireh Industries hereby declares that the SKOOT HT product
complies with the essential requirements and other relevant
provisions of the following European Union directives:
2014/30/EU EMC Directive
2014/35/EU Low Voltage Directive
2012/19/EU Directive on Waste Electrical and Electronic Equipment
2011/65/EU Directive on Restriction of Hazardous Substances (RoHS)
PAGE 3 of 140 DP0029 Rev 02.2
Chapter 2
PRODUCT SPECIFICATIONS
2.1. Base SKOOT HT System
This section outlines the product specifications of the base system. When the base
system is used together with compatible components (Chaper 2.2) or child products
(Chaper 2.3), the product specifications of the base system may be superseded. See
(see "Compatible Components" on page 10) and (see "Child Products" on page 14).
2.1.1. Intended Use
The SKOOT HT’s primary purpose is to perform inspections of ferrous assets
such as pipes, vessels, or storage tanks by moving an inspection tool over a
ferrous surface. It is intended for industrial use only.
WARNING! FALLING OBJECT HAZARD.
The SKOOT HT is intended for a specic use. Read
and understand the intended and unintended use
limits below. Using the SKOOT HT outside of its
intended use is dangerous and could result in
SEVERE INJURY or DEATH.
PAGE 4 of 140
2.1.1.1 Operating Limits
Category Parameter Specification
Inspection
Surface
Maximum coating thickness:
Up-side-down orientation Bare metal only
Vertical orientation 0.5 mm (0.020 in)
Horizontal, Right-side-up
orientation
1 mm (0.040 in)
Condition Clean, free of excess rust, scale, debris
(i.e. dirt, sand, etc.), ice, frost
Minimum thickness 3 mm (0.120 in)
Minimum ID, internal
circumferential driving
686 mm (27 in)
Minimum OD, external
circumferential driving
102 mm (4 in)
Minimum OD, longitudinal
driving
762 mm (30 in)
Maximum surface temperature 350°C (662°F)
Scanner Maximum umbilical length 30 m (100 ft)
Maximum payload
(performance may vary with surface
condition)
9 kg (20 lb)
(Umbilical and attachments are considered
payload)
Attachments Restricted to those listed in compatible
components or child products
Orientation while driving at
height >2 m (6 ft) on vertical
surface
Umbilical strain relief to point downwards, or
at worst, horizontal. It is not to point upwards
Required radial clearance
(stick handle and backpack
removed, front handle lowered,
circumferential driving)
102 mm (4 in) on outer diameters <200 mm
(8 in)
112 mm (4.4 in) on outer diameters >200 mm
(8 in)
PAGE 5 of 140 DP0029 Rev 02.2
2.1.1.2 Operating Environment
The SKOOT HT is for use in dry industrial environments having ambient
temperatures shown below. It is NOT intended for use in explosive
environments.
NOTE: The Cooler has sucient cooling capacity to continuously cool the
SKOOT HT with Raster Arm HT operating on a 350°C (662°F) surface,
provided the Cooler is kept in an ambient temperature less than 35°C (95°F).
Operation with a duty cycle or supplemental cooling may be required for
ambient temperatures greater than 35°C (95°F).
Category Parameter Specification
Environment Minimum ambient temperature -20°C (-4°F)
Maximum ambient temperature 50°C (122°F)
2.1.1.3 User
The SKOOT HT is intended to be used by persons who have read and
understand the user manual. The intended user is to be a person without
limitations in the physical abilities of the upper and lower limbs, sight, hearing,
or anyone with a pacemaker or Implantable Cardioverter Defibrillator (ICD).
For operating at a height greater than 2 m (6 ft), the SKOOT HT is intended to
be used by two people:
1. a person who is trained in rigging and fall protection and is able to
eectively apply the same safety principles to the crawler, and
2. a person who is trained to operate the SKOOT HT
PAGE 6 of 140
2.1.2. Unintended Use
The SKOOT HT is NOT intended for:
►use outside of its intended use
►unattended use
►lifting / lowering objects or people (i.e. using the SKOOT HT as a crane /
elevator)
►driving into / over obstructions, excluding standard weld caps
►installation on a surface on which welding is actively occurring
In addition to the above points, for operating at a height greater than 2 m (6 ft),
the crawler is NOT intended for:
►operation without a properly cordoned o no entry fall zone and/or proper
tether system
►operating up-side-down
►operating while oriented such that the umbilical strain relief points upward
(front for the SKOOT HT is lower than the umbilical connection).
PAGE 7 of 140 DP0029 Rev 02.2
2.1.3. Dimensions and Weight
A: 16 cm 6.3 in
B: 55.5 cm 21.8 in
C: 22.9 cm 9 in
D: (without manipulation handle) 23.3 cm 9.1 in
E: (without manipulation handle) 11.2 cm 4.4 in
Crawler weight: 7.7 kg 16.9 lb
Fig. 1 - Dimensions
A
E
B
C
D
PAGE 8 of 140
2.1.4. Power Requirements
Input Voltage: 25-45VDC
Input Power: 320W
2.1.5. Environmental Sealing
Dust-tight, watertight (not submersible).
WARNING! A reliable power source must be
used to power the crawler. Connections must be
secured to prevent accidental disconnection. Power
failure may cause the crawler to freewheel down when
operating in a vertical orientation. Portable generator
usage is not recommended unless accompanied by
the use of an uninterruptible power controller.
WARNING! Proper grounding of the power
controller is important for safe operation. When a
generator is used to supply power to the system (not
recommended), the generator must be properly
grounded (refer to generator manual).
CAUTION! DO NOT DISCONNECT UNDER
LOAD. Shut off power before connection or
disconnecting. Permanent damage to electronics could
occur.
CAUTION! Power must be supplied from an
approved Jireh power source.
PAGE 9 of 140 DP0029 Rev 02.2
2.1.6. Performance Specifications
Category Parameter Specification
Crawler Maximum speed 14.2 cm/sec (5.6 in/sec)
Encoder resolution,
drive motor
1354 counts/mm (34394 counts/in)
2.1.7. Encoder Interface Specifications
Output type: 4 channel quadrature 5VDC RS422 compatible.
Power: Power must be supplied to the interface.
5VDC +/-10% power limited to < 15w.
9Enc +5V
Enc A
Enc A’
Enc B
Enc B’
Enc Com
Aux Enc A’
Aux Enc B
Aux Enc B’
Shield
Aux Enc A
3
4
1
2
10
6
5
8
7
H
9
4
3
1
7
2
5
6
10
Fig. 2 - JIREH Industries pin out configuration
PAGE 10 of 140
2.2. Compatible Components
The components listed in this section integrate with the base system to perform
certain tasks. Their use may modify the product specifications (i.e. intended use,
power requirements, etc.) from those of the base system. The specifications listed
here supersede those of the base system. If no specifications are listed here, the
specifications of the base system remain eective
2.2.1. Low Profile Probe Holder Frame
CXG004-
2.2.1.1 Intended Use
The Low Profile Probe Holder Frame is intended to be mounted in the
SKOOT HT’s swivel mount to provide mounting of multiple probe holders. Its
use limits the SKOOT HT’s operation to inspection surfaces that are either flat
or driven on in the circumferential direction.
2.2.1.2 Operating Limits
Category Parameter Specification
Inspection Surface Minimum OD,
longitudinal driving
Not recommended
Maximum number of probe
holders
Slip Joint Probe
Holders
4
2.2.2. Vertical Probe Holder Frame
CXG007-
2.2.2.1 Intended Use
The Vertical Probe Holder Frame is intended to be mounted in the
SKOOT HT’s swivel mount to provide mounting of multiple probe holders. Its
use limits the SKOOT HT’s operation to inspection surfaces that are either flat
or driven on in the circumferential direction.
2.2.2.2 Operating Limits
Category Parameter Specification
Inspection Surface Minimum OD,
longitudinal driving
Not recommended
Maximum number of probe
holders
Vertical Probe
Holders
6
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