Jireh Skoot User manual
SKOOT
Automated Scanner
DN0108 Rev 00
PAGE i of x DN0108 Rev 00
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 33 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 34 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 x
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 installation/removal
mat (see“Installation/Removal Mat”on page 27) contains magnetic material.
People with pacemakers or ICD’s must stay at least 10 cm (4 in) away.
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! LASER RADIATION. The battery powered optical
guide contains a Class 1M laser. Do not view directly with optical instruments.
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 x DN0108 Rev 00
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 140 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.
PAGE iv of x
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 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 6
2.1.4. Power Requirements 8
2.1.5. Environmental Sealing 8
2.1.6. Performance Specifications 8
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 Operating Limits 11
2.2.4. Frame Bar 11
TABLE OF CONTENTS
PAGE v of x DN0108 Rev 00
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 12
2.2.9. HydroFORM Cart with Wheels 12
2.2.10. Preamp Bracket 13
2.2.10.1 Intended Use 13
2.2.10.2 Operating Limits 13
2.2.11. Battery Powered Optical Guide 13
2.2.11.1 Intended Use 13
2.2.11.2 Operating Environment 13
2.2.11.3 Power Requirements 13
2.2.11.4 Environmental Sealing 13
2.2.12. Medium Temperature Add-On Kit 14
2.2.12.1 Intended Use 14
2.2.12.2 Operating Limits 14
2.2.13. Encoder Adapter 14
2.2.13.1 Intended Use 14
2.3. Child Products 15
2.3.1. Motorized Couplant Pump 15
2.3.2. Motorized Raster Arm 15
2.3.3. Optical Guide 15
2.3.4. Battery Kit 15
Chapter3 Definitions 16
3.1. Definition of Symbols 16
3.2. Definitions of Terms 16
3.3. Safety Symbols 17
3.4. Safety Signal Words 17
Chapter4 System components 18
4.1. Component Identification 18
4.1.1. Base System 18
4.1.2. Compatible Components 19
4.1.3. Child Products 21
4.2. Tools 22
4.2.1. Included Tools 22
4.2.2. Optional tools 22
4.3. Base System Components 23
4.3.1. Crawler 23
PAGE vi of x
4.3.1.1 Emergency O Button 23
4.3.2. Power Controller 24
4.3.2.1 AC/DC Power Supply 25
4.3.3. Handheld Controller 26
4.3.4. Auxiliary Cable 27
4.3.5. J300 Encoder Cable 27
4.3.6. Installation/Removal Mat 27
4.3.7. Lifting Sling 28
4.3.8. Irrigation Kit 28
4.3.9. Cable Management 28
4.3.10. Tools 28
4.3.11. Cases 28
4.4. Compatible Components 29
4.4.1. Low Profile Probe Holder Frame 29
4.4.2. Vertical Probe Holder Frame 29
4.4.3. Pivoting Probe Holder Frame 29
4.4.4. Frame Bar 29
4.4.5. Slip Joint Probe Holder 29
4.4.6. Vertical Probe Holder 30
4.4.7. Heavy Duty Vertical Probe Holder 30
4.4.8. Corrosion Thickness Probe Holder 30
4.4.9. HydroFORM Cart 30
4.4.10. Preamp Bracket 30
4.4.11. Battery Powered Optical Guide 31
4.4.12. Automated Crawler Medium Temperature Add-On Kit 31
4.4.13. Encoder Adapter 31
4.5. Child Products 32
4.5.1. Motorized Couplant Pump 32
4.5.2. Motorized Raster Arm 32
4.5.3. Optical Guide 32
4.5.4. Battery 32
Chapter5 Preparation for Use 33
5.1. Preparation for Transportation 33
5.2. Preparation for Safe Use 33
5.2.1. No Entry Fall Zone 33
5.2.2. Tether Requirements and Attachment 34
5.2.3. Lifting Sling Setup 35
5.3. Preparation of Inspection Surface 35
5.4. System Connectivity 36
5.5. Configurations 38
PAGE vii of x DN0108 Rev 00
5.5.1. Crawler with Multiple Probe Holders 38
5.5.1.1 Vertical Probe Holder Frame 38
5.5.1.2 Low Profile Probe Holder Frame 40
5.5.1.3 Pivoting Probe Holder Frame 42
5.5.1.4 Pivoting Probe Holder Frame 44
5.6. Crawler 46
5.6.1. Swivel Mount 46
5.6.2. Umbilical 47
5.6.3. Handle 48
5.6.4. Emergency O Button 49
5.6.5. Cable Retainer 49
5.6.6. Manipulation Handle 50
5.7. Handheld Controller 51
5.7.1. Magnetic Mounts 51
5.8. Backpack 52
5.8.1. Mounting a Backpack 52
5.8.2. Using the backpack 53
5.9. Probe Holders 54
5.9.1. Heavy Duty Vertical Probe Holder 54
5.9.1.1 Probe Holder Setup 54
5.9.1.2 Probe Holder Vertical Adjustment 56
5.9.1.3 Probe Holder Left/Right Conversion 57
5.9.1.4 Probe Holder 90° Adjustment 58
5.9.2. Vertical Probe Holder 59
5.9.2.1 Probe Holder Setup 59
5.9.2.2 Probe Holder Vertical Adjustment 60
5.9.2.3 Probe Holder Transverse Adjustment 61
5.9.2.4 Probe Holder Longitudinal Adjustment 62
5.9.2.5 Probe Holder Left/Right Conversion 63
5.9.3. Slip Joint Probe Holder 65
5.9.3.1 Probe Holder Setup 65
5.9.3.2 Probe Holder Adjustment 67
5.9.3.3 Probe Holder Force Adjustment 67
5.9.3.4 Slip Joint Probe Holder Left/Right Conversion 69
5.10. Probe Holder Frames 71
5.10.1. Low Profile Probe Holder Frame - Flat or Circumferential Only 71
5.10.2. Vertical Probe Holder Frame - Flat or Circumferential Only 75
5.10.3. Pivoting Probe Holder Frame 79
5.10.3.1 Mounting a Pivoting Probe Holder Frame 80
5.10.4. Pivoting Probe Holder Frame Setup - Longitudinal Scanning 81
5.10.4.1 Longitudinal Scanning 81
5.10.4.2 Circumferential Scanning 82
5.10.4.3 Pivoting Probe Holder Frame - Flange Scanning 83
PAGE viii of x
5.10.5. Optical Guide Pivot Mount 86
5.11. Accessories 87
5.11.1. Battery Powered Optical Guide 87
5.11.2. Cable Management 88
5.11.2.1 Mounting the Cable Management 88
5.11.2.2 Cable Management Setup 88
5.11.2.3 Clamp Setup 89
5.11.3. Preamp Bracket 90
5.11.3.1 Mounting Preamp Bracket 90
5.11.3.2 Attaching Preamp with Screws 90
5.11.3.3 Attaching Preamp with Velcro Straps 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 D-pad 98
6.3.1.3 Joysticks 98
6.3.2. Mode Select Screen 99
6.3.3. Jog Mode 99
6.3.4. Latched Jog Mode 101
6.3.5. 1 Axis Scan Mode 102
6.3.5.1 1 Axis Scan Screen 103
6.3.6. System Utilities Screen 105
6.3.6.1 User Settings Screen 106
6.3.6.2 Diagnostics Screens 107
6.3.6.2.1. Detected Modules 107
6.3.6.2.2. System 1 108
6.3.6.2.3. System 2 109
6.3.6.2.4. System 3 109
6.3.6.2.5. Skoot-L 110
6.3.6.3 Touch Calibration Screen 111
6.3.6.4 Joystick Calibration Screen 112
6.3.6.5 Draw 113
6.3.7. High Internal Temperature Screen 113
Chapter7 Maintenance 115
7.1. Safety Precautions Before Maintenance 115
7.2. Cleaning 115
7.3. Maintenance Schedule 116
PAGE ix of x DN0108 Rev 00
Chapter8 Troubleshooting 117
8.1. Startup Issues 117
8.1.1. Joystick O Center 117
8.1.2. Checking Network 117
8.2. Startup Override 118
8.2.1. Scan Devices 119
8.2.2. Reset Parameters 120
8.2.3. System Parameters 120
8.2.4. Device Address 120
8.3. Additional Issues 121
8.4. Retrieval of a Stranded Crawler 122
Chapter9 Service and Repair 123
9.1. Technical Support 123
Chapter10 Spare Parts 124
10.1. Crawler 124
10.2. Kit Components 125
10.2.1. Encoder Connector Type 127
10.2.3. Power Cord Type 127
10.3. Probe Holder Frame 128
10.4. Low Profile Probe Holder Frame 129
10.5. Pivoting Probe Holder Frame 130
10.6. Slip Joint Probe Holder Parts 131
10.7. Vertical Probe Holder Parts 132
10.8. Heavy Duty Vertical Probe Holder 133
10.9. Corrosion Thickness Probe Holder 134
10.10. Probe Holder Components 135
10.10.1. Arm Style 135
10.10.2. Yoke Style 135
10.10.3. Swing Arm Style 135
10.10.4. Heavy Duty Yoke Style 135
10.10.5. Pivot Button Style 135
10.10.6. Probe Holder Receptacle and Wear Plate 136
10.11. Variable Components 136
10.11.1. Frame Bar 136
10.11.2. Cable Management Sleeving 136
10.12. Accessories 137
PAGE x of x
10.12.1. Automated Crawler Medium Temperature Add-On Kit 137
10.12.2. Preamp Bracket 138
10.12.3. Battery Powered Optical Guide 138
10.13. Cases 139
Chapter11 Disposal 140
Chapter12 Limited Warranty 141
PAGE 1 of 142 DN0108 Rev 00
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 2 of 142
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 3 of 142 DN0108 Rev 00
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 10) and (see “Child Products” on page 15)
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 4 of 142
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 5 of 142 DN0108 Rev 00
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).
For operating at a height greater than 2 m (6 ft), the SKOOT is intended to
PAGE 6 of 142
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 7 of 142 DN0108 Rev 00
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 8 of 142
2.1.4. Power Requirements
Input Voltage: 25-45VDC
Input Power: 320 W
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 9 of 142 DN0108 Rev 00
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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