Jireh Skoot User manual

DN0047 Rev 04.2
Motorized Scanner

PAGE iDN0047 Rev 04.2
SAFETY WARNINGS / PRECAUTIONS
DANGER! The SKOOT is designed for a specic use. Using the
SKOOT 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 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 8 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 9 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
WARNING! LASER RADIATION. Do not view directly with
optical instruments. Class 1M laser product.
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.
The magnetic base (Fig. 140 on page 61) of the raster arm cable tray
contains magnetic material. People with pacemakers or ICD’s must stay
at least 10 cm (4 in) away.
WARNING! MAGNETIC MATERIAL. The installation/removal
mat (Fig. 22 on page 11) contains magnetic material. People with
pacemakers or ICD’s must stay at least 10 cm (4 in) away.
CAUTION! Pinch points exist with this product. Keep ngers and
hands clear of pinch points.
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.

PAGE iii DN0047 Rev 04.2
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 109 for additional details).
DISTRIBUTOR:
Jireh Industries Ltd.
53158 Range Road 224
Ardrossan, Alberta, Canada
T8E 2K4
Phone: [phone]
Fax: [phone]
jireh-industries.com
MANUFACTURER:
NOTE: The above safety warnings highlighted in white are labelled on the products.
Emergency Stop. This symbol indicates emergency stop button.

PAGE iv
Chapter
1
Introduction 1
1.1. Product Information 1
1.1.1. Intended use 1
1.1.2. Unintended Use 2
1.2. Regulations 2
1.2.1. European Union CE Declaration 2
1.2.2. FCC 3
1.2.3. Industry Canada 3
1.3. Intended User 3
1.4. Crawler Weight 4
1.5. Crawler Dimensions 4
1.6. Scanner Operation Specifications 4
1.7. Performance specifications 5
1.8. Power Requirements 5
1.9. Encoder Interface Specifications 6
1.10. Operating Environment 6
1.11. Definition of symbols 6
1.12. Included Tools 7
1.12.1. Optional tools 7
Chapter
2
Preparation for Use 8
2.1. Transportation 8
2.2. No Entry Fall Zone 8
2.3. Tether Requirements and Attachment 9
2.3.1. Lifting Sling Setup 10
2.4. Preparation of Inspection Surface 10
2.5. Scanner Component Identification 11
Chapter
3
Configurations 13
3.1. Crawler with Raster Arm Module 13
3.2. Crawler with Probe Holder Frame 15
TABLE OF CONTENTS

PAGE vDN0047 Rev 04.2
Chapter
4
Operation 17
4.1. System Startup 17
4.2. Placement of Crawler on Inspection Surface 19
4.3. Operation 21
4.3.1. Handheld Controller Layout 21
4.3.1.1 Touchscreen 22
4.3.1.2 Click Wheel 22
4.3.1.3 Joysticks 22
4.3.2. Main Mode Selection Screen 22
4.3.3. Jog Mode 23
4.3.4. Latched Jog Mode 25
4.3.5. Two Axis Scan Mode 25
4.3.5.1 Two Axis Scan Setup Screen 26
4.3.5.2 Scan Speeds Screen 27
4.3.5.3 Two Axis Scan Screen 28
4.3.6. System Utilities Screen 30
4.3.6.1 User Settings Screen 30
4.3.6.2 Diagnostics Screens 31
4.3.6.2.1. Detected Modules 32
4.3.6.2.2. System 1 32
4.3.6.2.3. System 2 33
4.3.6.2.4. System 3 33
4.3.6.2.5. Skoot-L, Raster 34
4.3.6.3 Touch Calibration Screen 35
4.3.6.4 Joystick Calibration Screen 35
4.3.6.5 Draw 36
Chapter
5
System Components 37
5.1. Handheld Controller 37
5.2. Crawler 38
5.2.1. Swivel Mount 39
5.2.2. Umbilical 40
5.2.3. Handle 40
5.2.4. Emergency Off Button 41
5.2.5. Cable Retainer 41
5.2.6. Manipulation Handle 42
5.3. Backpack 43
5.3.1. Mounting a Backpack 43
5.3.2. Using the backpack 44

PAGE vi
5.4. Raster Arm Module 45
5.4.1. Mounting a Raster Arm 46
5.4.2. Attaching a Cable Tray 47
5.4.3. Using the Cable Tray 48
5.4.4. Raster Arm Cable Setup 50
5.5. Probe Holder Attachments 52
5.5.1. HydroFORM™ Probe Holder 52
5.5.2. Heavy Duty Vertical Probe Holder 52
5.5.2.1 Probe Holder Setup 53
5.5.2.2 Probe Holder Vertical Adjustment 54
5.5.2.3 Probe Holder Left/Right Conversion 55
5.5.2.4 Probe Holder 90° Adjustment 56
5.5.3. Corrosion Thickness Probe Holder 57
5.5.4. Two Probe Raster Arm 58
5.5.5. Pivoting the Raster Arm 59
5.5.6. Pivot Nose 59
5.5.7. Lowering Probe Holder to Scan Surface 60
5.5.8. Switching the Raster Arm Orientation 60
5.5.9. Raster Arm Cable 66
5.6. Battery Powered Laser Guide 67
5.7. Power Controller 68
5.8. Controller Cable 70
5.9. Encoder Cable 70
5.10. Vertical Probe Holder 71
5.10.1. Probe Holder Setup 71
5.10.2. Probe Holder Vertical Adjustment 72
5.10.3. Probe Holder Transverse Adjustment 73
5.10.4. Probe Holder Longitudinal Adjustment 74
5.10.5. Probe Holder Left/Right Conversion 75
5.11. Slip Joint Probe Holder 77
5.11.1. Probe Holder Setup 77
5.11.2. Probe Holder Adjustment 79
5.11.3. Probe Holder Force Adjustment 79
5.11.4. Slip Joint Probe Holder Left/Right Conversion 81
5.12. Low Profile Probe Holder Frame 83
5.12.1. Low Profile Probe Holder Frame Setup 83
5.13. Probe Holder Frame 86
5.13.1. Probe Holder Frame Setup 87
5.14. Pivoting Probe Holder Frame 90
5.14.1. Mounting a Pivoting Probe Holder Frame 91
5.14.2. Pivoting Probe Holder Frame Setup 92

PAGE vii DN0047 Rev 04.2
5.14.2.1 Longitudinal Scanning 92
5.14.2.2 Circumferential Scanning 93
5.14.2.3 Flange Scanning 94
5.14.3. Laser Guide Pivot Mount 97
5.15. Cable Management 98
5.15.1. Mounting a Zipper Tube 98
5.15.2. Zipper Tube Setup 98
5.15.3. Clamp Setup 99
5.16. Pre-Amp Bracket 100
Chapter
6
Maintenance 101
6.1. Safety Precautions Before Maintenance 101
6.2. Maintenance Schedule 101
Chapter
7
Troubleshooting 103
7.1. Startup Issues 103
7.1.1. Joystick Off Center 103
7.1.2. Checking Network 103
7.2. Startup Override 104
7.2.1. Scan Devices 105
7.2.2. Reset Parameters 106
7.2.3. System Parameters 106
7.2.4. Device Address 106
7.3. Additional Issues 107
7.4. Retrieval of a Stranded Crawler 108
Chapter
8
Service and Repair 109
8.1. Technical Support 109
8.2. Disposal 109
Chapter
9
Spare Parts 110
9.1. Skoot Crawler 110
9.2. Skoot Kit Components 111
9.3. Raster Arm Module 112
9.3.1. Mounting Rail 113
9.3.2. Cable Tray 113
9.4. Probe Holder Frame 114
9.5. Low Profile Probe Holder Frame 115
9.6. Pivoting Probe Holder Frame 116

PAGE viii
9.7. Slip Joint Probe Holder Parts 117
9.8. Vertical Probe Holder Parts 118
9.9. Heavy Duty Vertical Probe Holder 119
9.10. Corrosion Thickness Probe Holder 120
9.11. HydroFORM™ Probe Holder 121
9.12. Probe Holder Components 122
9.12.1. Arm Style 122
9.12.2. Yoke Style 122
9.12.3. Heavy Duty Yoke Style 122
9.12.4. Pivot Button Style 122
9.13. Variable Components 123
9.13.1. Frame Bar 123
9.13.2. Zipper Tube Length 123
9.14. Encoder Connector Type 123
Chapter
10
Limited Warranty 124

PAGE 1DN0047 Rev 04.2
CHAPTER 1
INTRODUCTION
1.1. Product Information
1.1.1. Intended use
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.
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 65 mm (2.5 in) for external circumferential driving
►have a minimum OD of 760 mm (30 in) for longitudinal driving
The SKOOT is intended to:
►be used by trained personnel (see “Intended User” on page 3).
►operate in an appropriate environment (see “Operating Environment” on
page 6)
►operate with a proper tether system (see “Tether Requirements and
Attachment” on page 9)
The SKOOT backpack is intended to mount objects that:
►have a maximum weight of 1.36 kg (3 lb)
►are attached to the SKOOT via a tether or probe cables strong enough to
prevent the object from falling
►have smooth edges so as not to cut backpack strap

PAGE 2
1.1.2. Unintended Use
The SKOOT is NOT intended for:
►Unattended use
►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)
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 is lower than the umbilical connection)
►operating with objects mounted in backpack that have a weight greater
than 1.36 kg (3 lb) or objects that are not attached to the SKOOT via a
tether or probe cables, or objects with sharp edges
1.2. Regulations
1.2.1. European Union CE Declaration
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/EC EMC Directive
2014/30/EC Low Voltage Directive
2012/19/EU Directive on Waste Electrical and Electronic Equipment
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 3DN0047 Rev 04.2
1.2.2. 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 interfer-
ence, 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 gen-
erates, uses, and can radiate radio frequency energy and, if not installed and
used in accordance with the instruction manual, may cause harmful interfer-
ence 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.
1.2.3. 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.
1.3. Intended User
The SKOOT 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 is intended to be used
by two people:
►a person who is trained in rigging and fall protection as well as able to
effectively apply the same safety principals to the crawler
►a person who is trained to control the crawler
The SKOOT is intended to be used by persons without limitations in the physical
abilities of the upper and lower limbs, sight and hearing. The SKOOT should not be
used by anyone with a pacemaker or ICD.
WARNING! MAGNETIC MATERIAL. The
SKOOT 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 4
1.4. Crawler Weight
Crawler weight* 7.3 kg 16 lb
Raster arm 300 mm (12 in) 2.45 kg 5.4 lb
Raster arm 600 mm (24 in) 3.36 kg 7.4 lb
Raster arm 900 mm (35 in) 4.04 kg 8.9 lb
Raster arm 1160 mm (45 in) 4.54 kg 10.0 lb
* Conguration excluding case, attachments, umbilical, manipulation handle, power
controller and handheld controller.
1.5. Crawler Dimensions
1.6. Scanner Operation Specications
Scanner
diameter range
External, circumferential scans: 63.5 mm (2.5 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
Motor encoder 1354 counts/mm (34394 counts/inch)
Raster arm
module encoder
240.2 counts/mm (6100.9 counts/inch)
Environmental
sealing
Dust tight, water tight (not submersible)
WARNING! LIFTING HAZARD. The SKOOT
can be heavy. Single person lift could cause injury.
Two person lift recommended.
Fig. 1 - Length and height
16.10 cm
(6.34 in)11.21 cm
(4.41 in)
55.97 cm
(22.04 in)
21.77 cm
(8.57 in)
14.86 cm
(5.85 in)
20.78 cm
(8.18 in)
13.43 cm
(5.29 in)
2.17 cm
(0.855 in)
Fig. 2 - Width

PAGE 5DN0047 Rev 04.2
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.
1.7. Performance specications
Maximum vertical payload:* 9 kg 20 lb
Maximum travel speed 0.5 - 14.2 cm/sec 0.2 - 5.6 in/sec
Raster arm module speed** 0.5 - 76.2 cm/sec 0.2 - 30 in/sec
*Performance may vary with surface type. Umbilical and attachments are considered payload.
**Heavy payloads may require reduced speeds.
1.8. Power Requirements
Power Requirements: 100-240VAC, 50/60Hz, 1.4 Amps
NOTE: The SKOOT power controller automatically adjusts to the supplied voltage.
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 6
1.9. Encoder Interface Specications
Output type: 4 channel quadrature 5VDC RS422 compatible.
Power: Power must be supplied to the interface.
5VDC +/-10% power limited to < 15w.
1.10. Operating Environment
The SKOOT is designed for operation in ambient temperatures between
-20° C (-4° F) and 50° C (122° F).
1.11. Denition of symbols
Instructions to ‘look here’ or to ‘see this part’.
Denotes movement. Instructing user to carry out
action in a specied direction.
Indicates alignment axis.
Alerts user that view has changed to a reverse angle.
9Enc +5V
Enc A
Enc A’
Enc B
Enc B’
Enc Com
Aux Enc A’
Auc 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 conguration

PAGE 7DN0047 Rev 04.2
1.12. Included Tools
The included 3 mm hex driver (Fig. 4) is
suitable for typical SKOOT and probe
holder adjustments.
A 3/8 in wrench (Fig. 5) is provided to
remove and install probe holder buttons.
The included 3 mm at driver (Fig. 6) is
useful for releasing the aps of the raster
arm’s cable tray.
1.12.1. Optional tools
Some specialized adjustments require tools that are not included with this kit.
Fig. 4 - 3 mm hex driver
Fig. 5 - 3/8” wrench
Fig. 6 - 3 mm at driver
Fig. 7 - 1.5 mm
hex wrench
Fig. 8 - 2 mm
hex wrench
Fig. 9 - 2.5 mm
hex wrench
Fig. 10 - 3 mm
hex wrench

PAGE 8
CHAPTER 2
PREPARATION FOR USE
2.1. Transportation
2.2. No Entry Fall Zone
The area below a 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 in (Fig. 11).
Example: If inspecting a tank that is 6 m (20 ft) tall, the No Entry Fall Zone radii must
be no smaller than 3 m (10 ft) from the area below the area of crawler operation.
CAUTION! PINCH / CRUSH HAZARD. BE
CAREFUL when passing the SKOOT 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.
DANGER! FALLING OBJECT HAZARD.
The area below a 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.
Area of crawler
operation
No Entry
Fall Zone
H
Radius = H/2
(minimum)
Radius = H/2
(minimum)
Fig. 11 - No entry fall zone

PAGE 9DN0047 Rev 04.2
2.3. Tether Requirements and Attachment
When used at a height greater than 2 m (6 ft), the SKOOT crawler MUST be tethered
with a proper tether system to prevent the crawler from falling. The tether system
must:
►be capable of safely suspending the crawler from above in case the crawler
detaches from the inspection surface;
►have sufcient capacity to catch and hold a 70 kg (150 lb) load;
►include a mechanism (i.e. self retracting inertia reel fall arrester) or person to
continuously take up slack in the tether as the crawler moves;
►include a lifting hook with a safety latch to prevent accidental disconnection. The
hook must be free of sharp edges that may cut or abrade the provided lifting
sling.
Before placing the crawler on the surface to be inspected (e.g. tank), attach the
provided lifting sling to the SKOOT and then hook the tether hook to the lifting sling.
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! Do NOT operate or place
crawler on a surface higher than 2 m (6 ft) without a
proper tether held taut at all times.
DANGER! Hook the tether hook to
the provided lifting sling BEFORE placing the
crawler on the surface to be inspected (e.g. tank).
IMPORTANT: Tether hook must have a safety latch
to prevent accidental disconnection.
CAUTION! The overhead attachment point
for the tether must be located as close as possible
to a location directly above the crawler to minimize
dangerous swinging of the crawler should it detach from
the inspection surface.

PAGE 10
2.3.1. Lifting Sling Setup
Secure the lifting sling to the SKOOT as illustrated here:
1. Wrap the supplied lifting sling around the handle of the SKOOT using a choker
hold knot (Fig. 12) and (Fig. 13).
2. Ensure the lifting sling is attached correctly to the SKOOT and inspect the
lifting sling for any damage prior to use.
2.4. Preparation of Inspection Surface
►Remove build-up of scale, and other debris (i.e. dirt, ice) from surface on
which the crawler is to drive. Excessive build-up will cause the wheels to lose
magnetic attraction which may lead to wheel slippage or crawler detachment.
►Ensure that no obstructions (other than standard butt welds) or voids are in the
drive path. Obstructions and voids could cause the crawler to fall if driven into or
over.
►Ensure that there are no patches of non-ferrous material in the drive path of
the crawler. If the crawler drives over a non-ferrous patch, it will lose magnetic
attraction and will cause the crawler to fall.
IMPORTANT! Carefully inspect the lifting
sling for damage prior to each use. Ensure the tether
hook does not have sharp edges that may cut the lifting
sling.
Fig. 12 - Attach the lifting sling with a choker hold Fig. 13 - Attach the lifting sling with a choker hold
CAUTION! Do NOT operate crawler on
surfaces where ice or frost may be present.

PAGE 11 DN0047 Rev 04.2
2.5. Scanner Component Identication
The SKOOT system may contain the following components (see System Components
on page 37 for additional details).
Fig. 14 - Skoot (crawler) Fig. 15 - Backpack Fig. 16 - Manipulation handle
Fig. 17 - Handheld controller Fig. 18 - Encoder cable Fig. 19 - Controller cable
Fig. 20 - Umbilical Fig. 21 - Zipper tube Fig. 22 - Installation/removal mat
Fig. 23 - Battery powered laser guide Fig. 24 - Lifting sling Fig. 25 - Power controller