Jireh Skoot User manual
SKOOT
Automated Scanner
DN0047 Rev 08.1
PAGE i of viii DN0047 Rev 08.1
SAFETY WARNINGS / PRECAUTIONS
WARNING! The SKOOT is designed for a specic use. Using the
SKOOT 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 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 Preparation for Safe Use on page 35 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 36 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 viii
WARNING! LASER RADIATION. The battery powered optical
guide contains a Class 1M laser. Do not view directly with optical
instruments.
CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power
before connection or disconnecting. Permanent damage to electronics could
occur.
CAUTION! DO NOT operate the SKOOT 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! 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 installation/removal mat
(see“Installation/Removal Mat”on page 29) contains magnetic material.
People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.
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.
PAGE iii of viii DN0047 Rev 08.1
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 135 for additional details).
EMERGENCY STOP. This symbol indicates emergency stop button.
PAGE iv of viii
Chapter1 Identification 3
1.1. Product Brand 3
1.2. Manufacturer 3
1.3. Compliance Declarations 3
1.3.1. ISED Emissions Compliance (Canada) 3
1.3.2. FCC Suppliers Declaration of Conformity (United States) 3
1.3.3. European Union CE Declarations 4
Chapter2 Product Specifications 5
2.1. Base SKOOT System 5
2.1.1. Intended Use 5
2.1.1.1 Operating Limits 6
2.1.1.2 Operating Environment 7
2.1.1.3 User 7
2.1.2. Unintended Use 8
2.1.3. Dimensions and Weight 8
2.1.4. Power Requirements 10
2.1.5. Environmental Sealing 10
2.1.6. Performance Specifications 10
2.1.7. Encoder Interface Specifications 11
2.2. Compatible Components 12
2.2.1. Low Profile Probe Holder Frame 12
2.2.1.1 Intended Use 12
2.2.1.2 Operating Limits 12
2.2.2. Vertical Probe Holder Frame 12
2.2.2.1 Intended Use 12
2.2.2.2 Operating Limits 12
2.2.3. Pivoting Probe Holder Frame 13
2.2.3.1 Operating Limits 13
2.2.4. Frame Bar 13
2.2.4.1 Intended Use 13
2.2.4.2 Operating Limits 13
2.2.5. Slip Joint Probe Holder 14
2.2.6. Vertical Probe Holder 14
TABLE OF CONTENTS
PAGE v of viii DN0047 Rev 08.1
2.2.7. Heavy Duty Vertical Probe Holder 14
2.2.8. Corrosion Thickness Probe Holder 14
2.2.9. HydroFORM Cart with Wheels 14
2.2.10. Preamp Bracket 15
2.2.10.1 Intended Use 15
2.2.10.2 Operating Limits 15
2.2.11. Battery Powered Optical Guide 15
2.2.11.1 Intended Use 15
2.2.11.2 Operating Environment 15
2.2.11.3 Power Requirements 15
2.2.11.4 Environmental Sealing 15
2.2.12. Medium Temperature Add-On Kit 16
2.2.12.1 Intended Use 16
2.2.12.2 Operating Limits 16
2.2.13. Encoder Adapter 16
2.2.13.1 Intended Use 16
2.3. Child Products 17
2.3.1. Motorized Couplant Pump 17
2.3.2. Motorized Raster Arm 17
2.3.3. Optical Guide 17
Chapter3 Definitions 18
3.1. Definition of Symbols 18
3.2. Definitions of Terms 18
3.3. Safety Symbols 19
3.4. Safety Signal Words 19
Chapter4 System components 20
4.1. Component Identification 20
4.1.1. Base System 20
4.1.2. Compatible Components 21
4.1.3. Child Products 23
4.2. Tools 24
4.2.1. Included Tools 24
4.2.2. Optional tools 24
4.3. Base System Components 25
4.3.1. Crawler 25
4.3.1.1 Emergency O Button 25
4.3.2. Power Controller 26
4.3.2.1 AC/DC Power Supply 27
PAGE vi of viii
4.3.3. Handheld Controller 28
4.3.4. Auxiliary Cable 29
4.3.5. Encoder Cable 29
4.3.6. Installation/Removal Mat 29
4.3.7. Lifting Sling 30
4.3.8. Irrigation Kit 30
4.3.9. Cable Management 30
4.3.10. Tools 30
4.3.11. Cases 30
4.4. Compatible Components 31
4.4.1. Low Profile Probe Holder Frame 31
4.4.2. Vertical Probe Holder Frame 31
4.4.3. Pivoting Probe Holder Frame 31
4.4.4. Frame Bar 31
4.4.5. Slip Joint Probe Holder 31
4.4.6. Vertical Probe Holder 32
4.4.7. Heavy Duty Vertical Probe Holder 32
4.4.8. Corrosion Thickness Probe Holder 32
4.4.9. HydroFORM Cart 32
4.4.10. Preamp Bracket 32
4.4.11. Battery Powered Optical Guide 33
4.4.12. Automated Crawler Medium Temperature Add-On Kit 33
4.4.13. Encoder Adapter 33
4.5. Child Products 34
4.5.1. Motorized Couplant Pump 34
4.5.2. Motorized Raster Arm 34
4.5.3. Optical Guide 34
Chapter5 Preparation for Use 35
5.1. Preparation for Transportation 35
5.2. Preparation for Safe Use 35
5.2.1. No Entry Fall Zone 35
5.2.2. Tether Requirements and Attachment 36
5.2.3. Lifting Sling Setup 37
5.3. Preparation of Inspection Surface 37
5.4. System Connectivity 38
5.5. Configurations 40
5.5.1. Crawler with Multiple Probe Holders 40
5.5.1.1 Vertical Probe Holder Frame 40
5.5.1.2 Low Profile Probe Holder Frame 42
5.5.1.3 Pivoting Probe Holder Frame 44
PAGE vii of viii DN0047 Rev 08.1
5.5.1.4 Pivoting Probe Holder Frame 46
5.6. Crawler 48
5.6.1. Swivel Mount 48
5.6.2. Umbilical 49
5.6.3. Handle 50
5.6.4. Emergency O Button 51
5.6.5. Cable Retainer 51
5.6.6. Manipulation Handle 52
5.7. Backpack 53
5.7.1. Mounting a Backpack 53
5.7.2. Using the backpack 54
5.8. Probe Holders 55
5.8.1. Heavy Duty Vertical Probe Holder 55
5.8.1.1 Probe Holder Setup 55
5.8.1.2 Probe Holder Vertical Adjustment 57
5.8.1.3 Probe Holder Left/Right Conversion 58
5.8.1.4 Probe Holder 90° Adjustment 59
5.8.2. Vertical Probe Holder 60
5.8.2.1 Probe Holder Setup 60
5.8.3. Probe Holder Vertical Adjustment 61
5.8.4. Probe Holder Transverse Adjustment 62
5.8.5. Probe Holder Longitudinal Adjustment 63
5.8.6. Probe Holder Left/Right Conversion 64
5.9. Slip Joint Probe Holder 66
5.9.1. Probe Holder Setup 66
5.9.2. Probe Holder Adjustment 68
5.9.3. Probe Holder Force Adjustment 68
5.9.4. Slip Joint Probe Holder Left/Right Conversion 70
5.10. Probe Holder Frames 72
5.10.1. Low Profile Probe Holder Frame - Flat or Circumferential Only 72
5.10.2. Vertical Probe Holder Frame - Flat or Circumferential Only 76
5.10.3. Pivoting Probe Holder Frame 80
5.10.3.1 Mounting a Pivoting Probe Holder Frame 81
5.10.4. Pivoting Probe Holder Frame Setup - Longitudinal Scanning 82
5.10.4.1 Longitudinal Scanning 82
5.10.4.2 Circumferential Scanning 83
5.10.4.3 Pivoting Probe Holder Frame - Flange Scanning 84
5.10.5. Optical Guide Pivot Mount 87
5.11. Accessories 88
5.11.1. Battery Powered Optical Guide 88
5.11.2. Cable Management 89
5.11.2.1 Mounting the Cable Management 89
PAGE viii of viii
5.11.2.2 Cable Management Setup 89
5.11.2.3 Clamp Setup 90
5.11.3. Preamp Bracket 91
Chapter6 Operation 92
6.1. System Startup 92
6.2. Placement of Crawler on Inspection Surface 94
6.2.1. Scanner Installation/Removal Mat Use 95
6.3. Operation 97
6.3.1. Handheld Controller Layout 97
6.3.1.1 Touchscreen 97
6.3.1.2 Click Wheel 98
6.3.1.3 Joysticks 98
6.3.2. Mode Select Screen 98
6.3.3. Jog Mode 99
6.3.4. Latched Jog Mode 101
6.3.5. System Utilities Screen 102
6.3.5.1 User Settings Screen 102
6.3.5.2 Diagnostics Screens 104
6.3.5.2.1. Detected Modules 105
6.3.5.2.2. System 1 105
6.3.5.2.3. System 2 106
6.3.5.2.4. System 3 106
6.3.5.2.5. Skoot-L, Raster 107
6.3.5.3 Touch Calibration Screen 108
6.3.5.4 Joystick Calibration Screen 109
6.3.5.5 Draw 110
6.3.6. High Internal Temperature Screen 110
Chapter7 Maintenance 111
7.1. Safety Precautions Before Maintenance 111
7.2. Cleaning 111
7.3. Maintenance Schedule 112
Chapter8 Troubleshooting 113
8.1. Startup Issues 113
8.1.1. Joystick O Center 113
8.1.2. Checking Network 113
8.2. Startup Override 114
8.2.1. Scan Devices 115
8.2.2. Reset Parameters 116
8.2.3. System Parameters 116
PAGE 1 of 137 DN0047 Rev 08.1
8.2.4. Device Address 116
8.3. Additional Issues 117
8.4. Retrieval of a Stranded Crawler 118
Chapter9 Service and Repair 119
9.1. Technical Support 119
Chapter10 Spare Parts 120
10.1. SKOOT Crawler 120
10.2. SKOOT Kit Components 121
10.2.1. Encoder Connector Type 122
10.2.2. Power Cord Type 122
10.3. Probe Holder Frame 123
10.4. Low Profile Probe Holder Frame 124
10.5. Pivoting Probe Holder Frame 125
10.6. Slip Joint Probe Holder Parts 126
10.7. Vertical Probe Holder Parts 127
10.8. Heavy Duty Vertical Probe Holder 128
10.9. Corrosion Thickness Probe Holder 129
10.10. Probe Holder Components 130
10.10.1. Arm Style 130
10.10.2. Yoke Style 130
10.10.3. Swing Arm Style 130
10.10.4. Heavy Duty Yoke Style 130
10.10.5. Pivot Button Style 130
10.10.6. Probe Holder Receptacle and Wear Plate 131
10.11. Variable Components 131
10.11.1. Frame Bar 131
10.11.2. Cable Management Sleeving 131
10.12. Accessories 132
10.12.1. Automated Crawler Medium Temperature Add-On Kit 132
10.12.2. Preamp Bracket 133
10.12.3. Battery Powered Optical Guide 133
10.13. Cases 134
Chapter11 Disposal 135
Chapter12 Limited Warranty 136
PAGE 2 of 137
PAGE 3 of 137 DN0047 Rev 08.1
Chapter 1
IDENTIFICATION
1.1. Product Brand
The SKOOT 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, Canada
T8E 2K4
Phone: 780.922.4534
jireh.com
Manufacturer:
PAGE 4 of 137
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 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 5 of 137 DN0047 Rev 08.1
Chapter 2
PRODUCT SPECIFICATIONS
2.1. Base SKOOT System
This section outlines the product specifications of the base system. When the base
system is used together with compatible components (Chapter 2.2) or child products
(Chapter 2.3), the product specifications of the base system may be superseded. See
(see “Compatible Components” on page 12) and (see “Child Products” on page 17)
2.1.1. Intended Use
The SKOOT’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 is intended for a specic use. Read and
understand the intended and unintended use limits
below. Using the SKOOT outside of its intended use
is dangerous and could result in SEVERE INJURY
or DEATH.
PAGE 6 of 137
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
64 mm (2.5 in)
Minimum OD, longitudinal
driving
762 mm (30 in)
Maximum surface temperature 50°C (122°F)
PAGE 7 of 137 DN0047 Rev 08.1
Category Parameter Specification
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)
Backpack Maximum weight of mounted
object
1.36 kg (3 lb)
Condition of mounted object Attached to crawler with lanyard or cables
strong enough to prevent object from
falling
Smooth edges to prevent cutting of strap
2.1.1.2 Operating Environment
The SKOOT is for use in dry industrial environments having ambient
temperatures shown below. It is NOT intended for use in explosive
environments
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 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).
PAGE 8 of 137
For operating at a height greater than 2 m (6 ft), the SKOOT 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
2.1.2. Unintended Use
The SKOOT is NOT intended for:
►use outside of its intended use
►unattended use
►lifting / lowering objects or people (i.e. using the SKOOT 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 is lower than the umbilical connection).
2.1.3. Dimensions and Weight
Crawler height: 14.9 cm 5.9 in
Crawler width: 20.8 cm 8.2 in
Crawler depth: 21.8 cm 8.6 in
Crawler height (handle down): 11.2 cm 4.4 in
Crawler weight: * 7.3 kg 16 lb
* Configuration excluding case, attachments, umbilical, manipulation handle, power
controller and handheld controller.
PAGE 9 of 137 DN0047 Rev 08.1
Fig. 1 - Crawler dimensions
16.1 cm
(6.3 in)11.2 cm
(4.4 in)
56 cm
(22 in)
21.8 cm
(8.6 in)
14.9 cm
(5.9 in)
20.8 cm
(8.2 in)
13.4 cm
(5.3 in)
2.2 cm
(0.9 in)
Fig. 2 - Width
PAGE 10 of 137
2.1.4. Power Requirements
Power Requirements: 100-240VAC, 50/60Hz, 1.4 Amps
2.1.5. Environmental Sealing
Dust-tight, watertight (not submersible).
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)
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 11 of 137 DN0047 Rev 08.1
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. 3 - Jireh Industries pin out configuration
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