Jireh SKOOT HT User manual

SKOOT
Automated Scanner
HT
DP0029 Rev 00.6

PAGE i of viii DP0029 Rev 00.6
SAFETY WARNINGS / PRECAUTIONS
DANGER! The SKOOT HT is designed for a specic use. Using
the SKOOT HT outside of its intended use is dangerous. Failure to comply
with the warnings, instructions, and specications 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.
DANGER! 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 66 for additional details)
DANGER! 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 67 for additional details)
DANGER! 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 viii
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.
CAUTION! Pinch points exist with this product. Keep ngers and
hands clear of pinch points.
CAUTION! DO NOT operate the SKOOT HT crawler on an
inspection surface which is electrically connected to a component that is
being welded.
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. This uid is ammable if heated to greater than 110°C and ignited
with an external ignition source. If a leak develops, keep ignition sources
away from coolant vapors. Also, the uid will auto ignite if heated to
temperatures greater than 410°C (770°F). Do not use system on surfaces
>350°C (662°F).

PAGE iii of viii DP0029 Rev 00.6
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 122 for additional details).
NOTE: The above safety warnings highlighted in white are labelled on the products.
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.

PAGE iv of viii
Chapter1 Identification 1
1.1. Product Brand 1
1.2. Manufacturer 1
1.3. Compliance Declarations 1
1.3.1. European Union CE Declaration 1
1.3.2. FCC 1
1.3.3. Industry Canada 2
Chapter2 Product Specifications 3
2.1. Intended use 3
2.1.1. Operating Limits 4
2.1.2. Operating Environment 4
2.1.3. User 4
2.2. Unintended Use 5
2.3. Dimensions and Weight 6
2.4. Power Requirements 7
2.5. Environmental Sealing 7
2.6. Performance Specifications 8
2.7. Encoder Interface Specifications 8
Chapter3 Definitions 9
3.1. Definitions of Symbols 9
Chapter4 System Components 10
4.1. Component Identification 10
4.2. Tools 13
4.2.1. Included Tools 13
4.2.2. Optional Tools 13
Chapter5 System Components 14
TABLE OF CONTENTS

PAGE v of viii DP0029 Rev 00.6
5.1. Handheld Controller 14
5.2. Crawler 15
5.2.1. Swivel Mount 16
5.2.2. Umbilical 17
5.2.3. Handle 17
5.2.4. Emergency O Button 18
5.2.5. Cable Retainer 18
5.2.6. Manipulation Handle 19
5.2.7. Quick Connect Fitting 19
5.3. Raster Arm HT 20
5.3.1. Mounting a Raster Arm HT 21
5.3.2. Raster Arm HT Cable Setup 22
5.3.3. Quick Connect Fitting 24
5.4. Probe Holder Attachments 25
5.4.1. Heavy Duty Vertical Probe Holder 25
5.4.1.1 Probe Holder Setup 25
5.4.1.2 Probe Holder Vertical Adjustment 27
5.4.1.3 Probe Holder Left/Right Conversion 28
5.4.1.4 Probe Holder 90° Adjustment 29
5.4.2. Two Probe Raster Arm HT 30
5.4.3. Corrosion Thickness Probe Holder 31
5.4.4. Raster Arm HT Cable 33
5.5. Power Controller 34
5.6. Auxiliary Cable 36
5.7. Encoder Cable 36
5.8. Vertical Probe Holder 37
5.8.1. Probe Holder Setup 37
5.8.2. Probe Holder Vertical Adjustment 38
5.8.3. Probe Holder Transverse Adjustment 39
5.8.4. Probe Holder Longitudinal Adjustment 40
5.8.5. Probe Holder Left/Right Conversion 41
5.9. Slip Joint Probe Holder 43
5.9.1. Probe Holder Setup 43
5.9.2. Probe Holder Adjustment 45
5.9.3. Probe Holder Force Adjustment 45
5.9.4. Slip Joint Probe Holder Left/Right Conversion 47
5.10.Low Profile Probe Holder Frame 49
5.10.1. Low Profile Probe Holder Frame Setup 49
5.11. Probe Holder Frame 52
5.11.1. Probe Holder Frame Setup 52
5.12.Pivoting Probe Holder Frame 55

PAGE vi of viii
5.12.1. Mounting a Pivoting Probe Holder Frame 56
5.12.2. Pivoting Probe Holder Frame Setup 57
5.12.2.1 Longitudinal Scanning 57
5.12.2.2 Circumferential Scanning 58
5.12.2.3 Flange Scanning 59
5.13.HT Cable and Hose Management 62
5.13.1. Mounting the HT Cable Management 62
5.13.2. Cable Management Setup 63
5.13.3. Clamp Setup 64
5.13.4. Hose Connection and Routing 64
Chapter6 Preparation for Use 66
6.1. Transportation 66
6.2. Safety Precautions Before Use 66
6.2.1. No Entry Fall Zone 66
6.2.2. Tether Requirements and Attachment 67
6.3. Preparation of Inspection Surface 68
6.4. Configurations 69
6.4.1. Crawler with Raster Arm HT 69
6.4.2. Crawler with Probe Holder Frame 71
Chapter7 Operation 73
7.1. System Startup 73
7.2. Placement of Crawler on Inspection Surface 75
7.3. Removal of Crawler from Inspection Surface 77
7.4. Operation 79
7.4.1. Handheld Controller Layout 79
7.4.1.1 Touchscreen 80
7.4.1.2 Click Wheel 80
7.4.1.3 Joysticks 80
7.4.2. Main Mode Selection Screen 80
7.4.3. Jog Mode 81
7.4.4. Latched Jog Mode 83
7.4.5. 2 Axis Scan Mode 83
7.4.5.1 2 Axis Scan Setup Screen 84
7.4.5.2 Scan Speeds Screen 85
7.4.5.3 2 Axis Scan Screen 86
7.4.6. Cooler Mode 88
7.4.7. Cooler Warnings 90
7.4.8. System Utilities Screen 91
7.4.8.1 User Settings Screen 91

PAGE vii of viii DP0029 Rev 00.6
7.4.8.2 Diagnostics Screens 92
7.4.8.2.1. Detected Modules 93
7.4.8.2.2. System 1 93
7.4.8.2.3. System 2 94
7.4.8.2.4. System 3 94
7.4.8.2.5. Skoot-L, Raster 95
7.4.8.3 Touch Calibration Screen 96
7.4.8.4 Joystick Calibration Screen 96
7.4.8.5 Draw 97
Chapter8 Maintenance 98
8.1. Safety Precautions Before Maintenance 98
8.2. Maintenance Schedule 99
Chapter9 Troubleshooting 100
9.1. Technical Support 100
9.2. Startup Issues 100
9.2.1. Joystick O Center 100
9.2.2. Checking Network 101
9.3. Startup Override 101
9.3.1. Scan Devices 102
9.3.2. Reset Parameters 103
9.3.3. System Parameters 103
9.3.4. Device Address 103
9.4. Additional Issues 104
9.5. Retrieval of a Stranded Crawler 105
Chapter10 Service and Repair 106
Chapter11 Spare Parts 107
11.1. SKOOT HT Crawler 107
11.2. SKOOT HT Kit Components 108
11.2.1. Encoder Connector Type 109
11.2.2. Power Cord Type 109
11.3. Raster Arm HT Module 110
11.4. Hose Spare Parts 111
11.5. Probe Holder Frame 112
11.6. Low Profile Probe Holder Frame 113
11.7. Pivoting Probe Holder Frame 114

PAGE viii of viii
11.8. Slip Joint Probe Holder Parts 115
11.9. Vertical Probe Holder Parts 116
11.10.Heavy Duty Vertical Probe Holder 117
11.11. Corrosion Thickness Probe Holder 118
11.12.Probe Holder Components 119
11.12.1. Arm Style 119
11.12.2. Yoke Style 119
11.12.3. Swing Arm Style 119
11.12.4. Heavy Duty Yoke Style 119
11.12.5. Pivot Button Style 119
11.13.Variable Components 120
11.13.1. Frame Bar 120
11.13.2. HT Cable Management Sleeving 120
11.14.Cases 121
Chapter12 Disposal 122
Chapter13 Limited Warranty 123

PAGE 1 of 124 DP0029 Rev 00.6
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. European Union CE Declaration
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/EC EMC Directive
2014/30/EC Low Voltage Directive
2012/19/EU Directive on Waste Electrical and Electronic Equipment
1.3.2. FCC
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
DISTRIBUTOR:
Jireh Industries Ltd.
53158 Range Road 224
Ardrossan, Alberta, Canada
T8E 2K4
Phone: [phone]
jireh.com
MANUFACTURER:

PAGE 2 of 124
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.
1.3.3. Industry Canada
CAN ICES-3 (A)/NMB-3(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.

PAGE 3 of 124 DP0029 Rev 00.6
Chapter 2
PRODUCT SPECIFICATIONS
2.1. Intended use
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.
The intended ferrous surface is to:
►be bare metal for up-side-down surfaces, or
►be coated to a thickness no greater than:
►0.5 mm (.02 in) for vertical surfaces
►1 mm (.04 in) 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 3 mm (0.12 in)
►have a minimum ID of 610 mm (24 in) for internal circumferential driving
►have a minimum OD of 102 mm (4 in) for external circumferential driving
►have a minimum OD of 760 mm (30 in) for longitudinal driving
►have a surface temperature between -20°C and 350°C (-4°F and 662°F)
The crawler is not to be installed on a surface on which welding is actively occurring
The SKOOT HT is intended to:
►be used by trained personnel (see "User" on page 4).
►operate in an appropriate environment (see "Operating Environment" on page 4)
►operate with a proper tether system
(see "Tether Requirements and Attachment" on page 67)

PAGE 4 of 124
2.1.1. Operating Limits
Scanner
diameter
range
External, circumferential scans: 102 mm (4 in) OD to Flat
Internal, circumferential scans: 686 mm (27.01 in) ID to Flat
External, longitudinal scans: 762 mm (30 in) OD to Flat
Required
radial
clearance*
101.32 mm (3.989 in) on pipes under 200 mm (8 in) OD and
110.26 mm (4.341 in) on pipes over 200 mm (8 in) OD
* With backpack and manipulation handle removed, using slip joint probe holders only.
2.1.2. Operating Environment
The SKOOT HT is designed for operation in ambient temperatures between
-20° C (-4° F) and 50° C (122° F).
NOTE: The Cooler has sufficient 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).
2.1.3. User
The SKOOT HT is intended to be used by persons who have read and
understood this user manual.
For operating at a height greater than 2 m (6 ft), the SKOOT HT is intended to be
used by two people:
►a person who is trained in rigging and fall protection as well as able to
eectively apply the same safety principals to the crawler
►a person who is trained to control the crawler
The SKOOT HT is intended to be used by persons without limitations in
the physical abilities of the upper and lower limbs, sight and hearing. The
SKOOT HT should not be used by anyone with a pacemaker or ICD.
WARNING! MAGNETIC MATERIAL. The
SKOOT HT system can 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.
People with pacemakers or ICD’s must stay at least
25 cm (10 in) away.

PAGE 5 of 124 DP0029 Rev 00.6
2.2. Unintended Use
The SKOOT HT 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 over obstacles/obstructions (excluding standard butt welds)
►operating in ambient temperatures below -20° C (-4° F) or above 50° C (122° F)
►operation on a surface with a temperature greater than 350°C (662°F)
In addition to the preceding points, operating at a height greater than 2 m (6 ft), 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
(front of the SKOOT HT is lower than the umbilical connection)
DANGER! FALLING OBJECT HAZARD.
Failure to comply with the warnings, instructions
and specications in this manual could result in
SEVERE INJURY or DEATH.

PAGE 6 of 124
2.3. 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
Fig. 1 - Dimensions
A
E
B
C
D

PAGE 7 of 124 DP0029 Rev 00.6
Crawler weight* 7.7 kg 16.9 lb
Raster Arm HT 600 mm (24 in) 3.6 kg 7.9 lb
* Configuration excluding case, attachments, umbilical, manipulation handle, power controller
and handheld controller.
2.4. Power Requirements
Power Requirements: 100-240VAC, 50/60Hz, 1.4 Amps
NOTE: The SKOOT HT power controller automatically adjusts to the supplied
voltage.
2.5. 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.

PAGE 8 of 124
2.6. Performance Specifications
Motor Encoder 1354 counts/mm (34394 counts/inch)
Raster Arm HT module encoder 240.2 counts/mm (6100.9 counts/inch)
Maximum vertical payload:* 9 kg 20 lb
Crawler speed 0 - 14.2 cm/sec 0 - 5.6 in/sec
Raster Arm HT module speed** 0 - 76.2 cm/sec 0 - 30 in/sec
*Performance may vary with surface type. Umbilical and attachments are considered payload.
**Heavy payloads may require reduced speeds.
2.7. 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 9 of 124 DP0029 Rev 00.6
Chapter 3
DEFINITIONS
3.1. Definitions of Symbols
Instructions to ‘look here’ or to ‘see this part’.
Denotes movement. Instructing user to carry out action
in a specified direction.
Indicates alignment axis.
Alerts user that view has changed to a reverse angle.

PAGE 10 of 124
Chapter 4
SYSTEM COMPONENTS
4.1. Component Identification
The SKOOT HT system may contain the following components (see System Components
on page 14 for additional details).
Fig. 3 - SKOOT HT (crawler)
DPA003
Fig. 4 - SKOOT HT umbilical
UMA043-
Fig. 5 - Manipulation handle
DNS006
Fig. 6 - Handheld controller
CXA008
Fig. 7 - Auxiliary cable
UMA017-
Fig. 8 - Power controller
DNA006-
Fig. 9 - Encoder cable
UMA025-
Fig. 10 - 6 mm ID irrigation kit
CMG009-
Fig. 11 - High temperature cable management -
threaded mount
CXS113-
Fig. 12 - Low profile probe holder frame
CXG004-
Fig. 13 - Probe holder frame
CXG007-
Fig. 14 - Pivoting probe holder frame
CXG013-
Fig. 15 - Heavy duty probe holder
PHS043
Fig. 16 - Corrosion thickness probe holder
PHS078-C
Fig. 17 - Vertical probe holder
PHA015-
Fig. 18 - Raster Arm HT
EDA001-
Fig. 19 - Raster Arm HT cable
UMA020-
Fig. 20 - Auxiliary cable
UMA017-01
Fig. 21 - Cooler
DPA002
Fig. 22 - Hoses
DPA004-
Fig. 23 - 3 mm flat driver
EA480

PAGE 11 of 124 DP0029 Rev 00.6
Chapter 4
SYSTEM COMPONENTS
4.1. Component Identification
The SKOOT HT system may contain the following components (see System Components
on page 14 for additional details).
Fig. 3 - SKOOT HT (crawler)
DPA003
Fig. 4 - SKOOT HT umbilical
UMA043-
Fig. 5 - Manipulation handle
DNS006
Fig. 6 - Handheld controller
CXA008
Fig. 7 - Auxiliary cable
UMA017-
Fig. 8 - Power controller
DNA006-
Fig. 9 - Encoder cable
UMA025-
Fig. 10 - 6 mm ID irrigation kit
CMG009-
Fig. 11 - High temperature cable management -
threaded mount
CXS113-
Fig. 12 - Low profile probe holder frame
CXG004-
Fig. 13 - Probe holder frame
CXG007-
Fig. 14 - Pivoting probe holder frame
CXG013-
Fig. 15 - Heavy duty probe holder
PHS043
Fig. 16 - Corrosion thickness probe holder
PHS078-C
Fig. 17 - Vertical probe holder
PHA015-
Fig. 18 - Raster Arm HT
EDA001-
Fig. 19 - Raster Arm HT cable
UMA020-
Fig. 20 - Auxiliary cable
UMA017-01
Fig. 21 - Cooler
DPA002
Fig. 22 - Hoses
DPA004-
Fig. 23 - 3 mm flat driver
EA480