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Jireh SKOOT HT Manual

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SKOOT
HT
DP0029 Rev 00.6
Automated Scanner

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  • Page 1 SKOOT DP0029 Rev 00.6 Automated Scanner...
  • Page 2 SAFETY WARNINGS / PRECAUTIONS 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.
  • Page 3 Pinch points exist with this product. Keep fingers 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. PAGE ii of viii...
  • Page 4 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. The WEEE symbol indicates that the product must not be disposed of as unsorted municipal waste, but should be collected separately.

  • Page 5: Table Of Contents

    TABLE OF CONTENTS Identification Chapter 1.1. Product Brand 1.2. Manufacturer 1.3. Compliance Declarations 1.3.1. European Union CE Declaration 1.3.2. FCC 1.3.3. Industry Canada Product Specifications Chapter 2.1. Intended use 2.1.1. Operating Limits 2.1.2. Operating Environment 2.1.3. User 2.2. Unintended Use 2.3. Dimensions and Weight 2.4. Power Requirements 2.5.
  • Page 6 5.1. Handheld Controller 5.2. Crawler 5.2.1. Swivel Mount 5.2.2. Umbilical 5.2.3. Handle 5.2.4. Emergency Off Button 5.2.5. Cable Retainer 5.2.6. Manipulation Handle 5.2.7. Quick Connect Fitting 5.3. Raster Arm HT 5.3.1. Mounting a Raster Arm HT 5.3.2. Raster Arm HT Cable Setup 5.3.3. Quick Connect Fitting 5.4. Probe Holder Attachments 5.4.1. Heavy Duty Vertical Probe Holder 5.4.1.1 Probe Holder Setup 5.4.1.2 Probe Holder Vertical Adjustment...
  • Page 7 5.12.1. Mounting a Pivoting Probe Holder Frame 5.12.2. Pivoting Probe Holder Frame Setup 5.12.2.1 Longitudinal Scanning 5.12.2.2 Circumferential Scanning 5.12.2.3 Flange Scanning 5.13. HT Cable and Hose Management 5.13.1. Mounting the HT Cable Management 5.13.2. Cable Management Setup 5.13.3. Clamp Setup 5.13.4. Hose Connection and Routing Preparation for Use Chapter 6.1.
  • Page 8 9.5. Retrieval of a Stranded Crawler Service and Repair Chapter Spare Parts Chapter 11.1. SKOOT HT Crawler 11.2. SKOOT HT Kit Components 11.2.1. Encoder Connector Type 11.2.2. Power Cord Type 11.3. Raster Arm HT Module 11.4. Hose Spare Parts 11.5. Probe Holder Frame 11.6.
  • Page 9 11.8. Slip Joint Probe Holder Parts 11.9. Vertical Probe Holder Parts 11.10. Heavy Duty Vertical Probe Holder 11.11. Corrosion Thickness Probe Holder 11.12. Probe Holder Components 11.12.1. Arm Style 11.12.2. Yoke Style 11.12.3. Swing Arm Style 11.12.4. Heavy Duty Yoke Style 11.12.5. Pivot Button Style 11.13.

  • Page 10: Product Brand

    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.

  • Page 11: Industry Canada

    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...

  • Page 12: Product Specifications

    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.

  • Page 13: Operating Limits

    25 cm away. (10 in) 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 , the SKOOT HT is intended to be...

  • Page 14: Unintended Use

    Failure to comply with the warnings, instructions and specifications in this manual could result in SEVERE INJURY or DEATH. The SKOOT HT is NOT intended for: operation on surfaces that are not clean (e.g. excess rust, scale, ferrous debris, ice, ►...

  • Page 15: Dimensions And Weight

    2.3. Dimensions and Weight - Dimensions Fig. 1 16 cm 6.3 in 55.5 cm 21.8 in 22.9 cm 9 in 23.3 cm 9.1 in (without manipulation handle) 11.2 cm 4.4 in (without manipulation handle) PAGE 6 of 124...

  • Page 16: Power Requirements

    Do not disconnect under load. Shut off power before connection or disconnecting. Permanent damage to electronics could occur. 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) DP0029 Rev 00.6...

  • Page 17: Performance Specifications

    10% power limited to < 15w. Enc B Enc B’ Enc A Enc A’ Aux Enc A’ Aux Enc A Aux Enc B’ Aux Enc B Enc +5V Enc Com Shield - Jireh Industries pin out configuration Fig. 2 PAGE 8 of 124...

  • Page 18: Definitions

    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. DP0029 Rev 00.6 PAGE 9 of 124...

  • Page 19: System Components

    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) - SKOOT HT umbilical - Manipulation handle - SKOOT HT (crawler) Fig. 4 Fig. 5 Fig.
  • Page 20 - Low profile probe holder frame - Probe holder frame - Pivoting probe holder frame Fig. 12 Fig. 13 Fig. 14 CXG004- CXG007- CXG013- - Heavy duty probe holder - Corrosion thickness probe holder - Vertical probe holder Fig. 15 Fig.
  • Page 21 CMA016 - 300 / 600 mm Raster Arm HT case - Umbilical case - Umbilical / probe holder frame case Fig. 27 Fig. 28 Fig. 29 CWA009 EA421 CXA023 - SKOOT HT case Fig. 30 DPA005 PAGE 12 of 124...

  • Page 22: Tools

    Fig. 32 - 3 mm hex driver Fig. 31 The included 3 mm hex driver (Fig. 31) suitable for typical SKOOT HT and probe holder adjustments. A 3/8 in wrench is provided to (Fig. 32) remove and install probe holder buttons.

  • Page 23: System Components

    Chapter 5 SYSTEM COMPONENTS 5.1. Handheld Controller - Handheld controller Fig. 38 The handheld controller is used to manipulate a scanner installed on an inspection surface. User settings and scan information are edited using the handheld controller. The handheld controller is connected to the power controller with the auxiliary cable The handheld controller contains the complete system program and must be connected for the system to operate.

  • Page 24: Crawler

    5.2. Crawler - Cralwer Fig. 39 The crawler includes the motor encoder, umbilical connections and accessory mounting point. WARNING! MAGNETIC MATERIAL. The wheels of the crawler produce an extremely strong magnetic field which may cause failure or permanent damage to items such as watches, memory devices, CRT monitors, medical devices or other electronics.

  • Page 25: Swivel Mount

    5.2.1. Swivel Mount - Frame bar installation - Swivel mount angle Fig. 40 Fig. 41 Located at the front of the crawler, the swivel mount is used to connect scanning accessories such as a Raster Arm HT module, probe frame system or corrosion thickness probe holder.

  • Page 26: Umbilical

    - Align with crawler’s umbilical mount Fig. 45 Fig. 46 Align the pins of the umbilical to the connector at the rear of the SKOOT HT (Fig. 45) Twist the umbilical’s sleeve clockwise locking the umbilical in place. (Fig. 46) 5.2.3.

  • Page 27: Emergency Off Button

    The red button located on the top left of the crawler provides an emergency off button to the entire system. When pressed, all power to the SKOOT HT system will disengage. To restore system power, it is necessary to press the green power button located on the power controller (see "Power...

  • Page 28: Manipulation Handle

    5.2.6. Manipulation Handle - Manipulation handle Fig. 53 The manipulation handle provides a means of orienting the scanner (Fig. 53) direction. The handle can be used to set initial scanner direction as well as occasional orientation correction. The manipulation handle is not intended as a tool for constant adjustment during a scan operation.

  • Page 29: Raster Arm Ht

    The Raster Arm HT can carry many different probes for various types of corrosion scans, including conventional 0° transducers, phased array probes and more. The SKOOT HT handheld controller is used to setup all the parameters of the scan (see 2 Axis Scan Mode on page 83 for additional details).

  • Page 30: Mounting A Raster Arm Ht

    5.3.1. Mounting a Raster Arm HT - Slide onto one swivel mount Fig. 56 Loosen the two black wing knobs, slide the Raster Arm HT’s mounting rail onto the dovetail jaws of the crawler (Fig. 56) - Properly mounted Raster Arm HT Fig.

  • Page 31: Raster Arm Ht Cable Setup

    5.3.2. Raster Arm HT Cable Setup - Raster Arm HT cable routing Fig. 58 Plug the supplied Raster Arm HT cable into the Raster Arm HT’s connector located on the Raster Arm HT encoder housing. Press the Raster (Fig. 58) Arm HT cable into the first cable bracket on the side of the Raster Arm HT encoder housing.
  • Page 32 - Adjustable cable clips Fig. 59 Route the Raster Arm HT cable through the cable management clips and press the clips onto the side of the Raster Arm HT . These clips slide (Fig. 59) along the Raster Arm HT allowing the Raster Arm HT cable to be positioned as required.

  • Page 33: Quick Connect Fitting

    5.3.3. Quick Connect Fitting The quick connect fittings on the top of the raster arm provide a connection point for hose fittings. - Route cable through the clip twice Fig. 254 Press the hose fitting onto the quick connect to attach (Fig.

  • Page 34: Probe Holder Attachments

    5.4. Probe Holder Attachments 5.4.1. Heavy Duty Vertical Probe Holder Latch Probe Holder Arm Adjustment Knob Yoke Probe Holder Arms Pivot Buttons Arm Clamp Screw Probe Holder Adjustment Knob Vertical Adjustment Knob - Heavy duty vertical probe holder Fig. 61 5.4.1.1 Probe Holder Setup - Mount probe holder to carrier - Vertical adjustment...
  • Page 35 - Remove outer arm - Adjust inner arm Fig. 64 Fig. 65 Loosen the probe holder adjustment knob and remove the outer probe holder arm (Fig. 64) Loosen the arm clamp screw (Fig. 65). Place the wedge on the pivot button of the inner probe holder (Fig.

  • Page 36: Probe Holder Vertical Adjustment

    5.4.1.2 Probe Holder Vertical Adjustment - Press up and pull latch - Lowered toward scan surface Fig. 68 Fig. 69 Gently lift the heavy duty vertical probe holder and simultaneously pull the latch . This action will unlock the probe holder. Slowly lower (Fig.

  • Page 37: Probe Holder Left/Right Conversion

    5.4.1.3 Probe Holder Left/Right Conversion - Remove yoke - Orient to opposite side Fig. 70 Fig. 71 Using the supplied 3 mm driver, unscrew the yoke (Fig. 70). Position the yoke and arms to the opposite side of the probe holder (Fig.

  • Page 38: Probe Holder 90° Adjustment

    Position the pivot buttons to the inside of the probe holder arms (Fig. 74) Place the probe holder arms on the yoke and tighten the arm clamp screw and probe holder adjustment knob (Fig. 75) Screw the yoke to the probe holder (Fig.

  • Page 39: Two Probe Raster Arm Ht

    5.4.2. Two Probe Raster Arm HT - Raster Arm HT with 2 probe holders Fig. 78 To mount 2 probe holders to the Raster Arm HT, follow these steps: NOTE: Do not mount in excess of 2 probe holders to the front of the Raster Arm HT. - Remove pivot nose - Angle pivot nose down - Install (male) pivot nose...

  • Page 40: Corrosion Thickness Probe Holder

    Mount a frame bar to the Raster Arm HT pivot nose (Fig. 82) Follow the steps to mount and setup (see "Probe Holder Setup" on page 37) the vertical probe holders (Fig. 83) 5.4.3. Corrosion Thickness Probe Holder DANGER! FALLING OBJECT HAZARD. It is imperative that the steps below be followed to properly set the latched height of the probe holders.
  • Page 41 Engage the swivel mount levers to lock Raster Arm HT position (Fig. 87) - Release Raster Arm HT pivot nose latch Fig. 88 Release the Raster Arm HT pivot nose latch (Fig. 88) mm (3/4 in) minimum - Latch pivot nose Fig.

  • Page 42: Raster Arm Ht Cable

    - Pull probe holder latch to release corrosion thickness probe holder Fig. 90 Gently lift the probe holder (Fig. 90-1). Pull the probe holder latch (Fig. 90-2). Lower the probe holder gently to the scan surface (Fig. 90-3) 5.4.4. Raster Arm HT Cable The Raster Arm HT cable connects the Raster Arm HT module to the crawler.

  • Page 43: Power Controller

    5.5. Power Controller - Power controller Fig. 92 The SKOOT HT power controller converts power from a 100-240 VAC, 50/60Hz, 1.4A power source to 36VDC, 2.65A. A start/stop safety circuit and physical ON and OFF push-buttons are integrated into the supply.
  • Page 44 WARNING! There are no user serviceable components inside the power controller. Dangerous voltages can be present inside the case. Do NOT open. Return to manufacturer for repair. Only use the power controller with a properly grounded source. The safety of the power controller relies on the provision of a proper ground connection.

  • Page 45: Auxiliary Cable

    5.7. Encoder Cable The encoder cable connects (Fig. 95) the SKOOT HT system to the user’s instrument. This cable allows transmission of necessary two axis position signals from the SKOOT HT system to the instrument. The encoder cable also provides 5VDC from the user’s instrument...

  • Page 46: Vertical Probe Holder

    5.8. Vertical Probe Holder Latch Probe Holder Adjustment Knob Vertical Adjustment Knob Pivot Buttons Probe Holder Arms Yoke Probe Holder Arm Adjustment Knob Transverse Adjustment Screw Frame Bar - Vertical probe holder Fig. 96 5.8.1. Probe Holder Setup - Adjust on frame bar - Vertical adjustment - Place buttons Fig.

  • Page 47: Probe Holder Vertical Adjustment

    To mount a UT wedge in the probe holder, follow these steps: - Adjust inner arm - Adjust outer arm - Tighten arm knob Fig. 100 Fig. 101 Fig. 102 Position the wedge on the inner probe holder arm (Fig. 100) TIP: The probe holder yoke can accommodate many different probe and wedge sizes of varying widths.

  • Page 48: Probe Holder Transverse Adjustment

    Ensure the probe holder is in the latched, upper position. Lift the probe holder until the latch is fully exposed and snaps out to lock (Fig. 103) Loosen the vertical adjustment knob and slide the probe holder down until the wedge is approximately 6 mm above inspection surface.

  • Page 49: Probe Holder Longitudinal Adjustment

    Ensure the probe holder is in latched, upper position (Fig. 103) Using the supplied 3 mm hex driver loosen the transverse adjustment screw and rotate the yoke about the vertical shaft achieving the desired (Fig. 107) angle. Tighten the transverse adjustment screw (Fig.

  • Page 50: Probe Holder Left/Right Conversion

    5.8.5. Probe Holder Left/Right Conversion To reverse the probe holder, follow these steps: NOTE: To perform this operation the 1.5 mm hex wrench (Fig. 34) is required. - Unscrew yoke pivot screw - Remove probe holder arms Fig. 113 Fig. 114 Ensure the probe holder is in latched, upper position (Fig.
  • Page 51 - Screw yoke to opposite side - Lower 90° stop post Fig. 117 Fig. 118 Mount the yoke to the opposite side of the base using the supplied 3 mm hex driver (Fig. 117) TIP: Keep the yoke level with the base as to ensure no conflicts with the plunger/set screw attached to the yoke.

  • Page 52: Slip Joint Probe Holder

    5.9. Slip Joint Probe Holder Frame Bar Probe Holder Adjustment Knob Latch Swing Arm Knob Yoke Probe Holder Arm Adjustment Knob Probe Holder Arm Arm Clamp Screw Pivot Buttons - Slip Joint Probe Holder Fig. 121 5.9.1. Probe Holder Setup To mount a UT wedge in the probe holder, follow these steps: - Attach to frame bar Fig.
  • Page 53 Use swing arm knob to position the swing arm (Fig. 124). TIP: The swing arm is typically used to adjust TOFD center to center distance relative to the phased array probes on a four probe configuration. Using the supplied 3/8 in wrench, place the pivot buttons farthest (Fig.

  • Page 54: Probe Holder Adjustment

    5.9.2. Probe Holder Adjustment To adjust the probe holder, follow these steps: 6 mm approx. - Lift to latched position - Lower to scanning surface Fig. 129 Fig. 130 Ensure probe holder is in latched, upper position . If the probe (Fig.
  • Page 55 To adjust the probe holder’s force, follow these steps: NOTE: Do not perform this operation on scanning surface. - Lift slightly and press Latch - Unlatched position Fig. 133 Fig. 134 Ensure the probe holder is in the upright latched position (Fig.

  • Page 56: Slip Joint Probe Holder Left/Right Conversion

    5.9.4. Slip Joint Probe Holder Left/Right Conversion To reverse the probe holder, follow these steps: - Unscrew yoke pivot screw - Remove arms Fig. 138 Fig. 139 Unscrew the yoke from the swing arm (Fig. 138) Loosen the probe holder arm adjustment knob and arm clamp screw. Slide the arms from the yoke (Fig.
  • Page 57 - Position swing arm - Install yoke to swing arm Fig. 142 Fig. 143 Loosen the swing arm knob and slide the swing arm to the opposite end of the probe holder bracket or preferred position. Tighten swing arm (Fig. 142) knob.

  • Page 58: Low Profile Probe Holder Frame

    5.10. Low Profile Probe Holder Frame - Low profile probe holder frame Fig. 145 The low profile frame adds weld scanning capability to the SKOOT HT motorized scanner. This frame can utilize slip joint probe holders (2 Phased Array and 2 TOFD, .
  • Page 59 Affix the probe holders (with attached wedges) to the low profile probe holder frame. On the frame bar, place the secondary probe holders at the front and the primary probe holders at the rear (Fig. 146-2) (Fig. 146-1) TIP: Due to their larger size, scan results are generally improved when pulling or dragging phased array wedges.
  • Page 60 - Align probe holder tangent with scan surface Fig. 149 Loosen the front rotational adjustment knob to align the frame bar (Fig. 149) parallel with the scan surface (Fig. 150) Tighten the front rotational adjustment knob. Lower the probe holders to the inspection surface (see "Probe Holder Adjustment"...

  • Page 61: Probe Holder Frame

    5.11. Probe Holder Frame The probe holder frame adds weld scanning capability to the SKOOT HT motorized scanner. This frame uses (4) vertical probe holders. Additional frame components allow up to six probes to be used (contact Jireh Industries Ltd. on page 1) - Probe holder frame Fig.
  • Page 62 Affix the probe holders to the probe holder frame. (with attached wedges) Place the secondary probe holder at the front of the frame (Fig. 152-1) place the primary probe holders at the rear of the frame bar (Fig. 152-2) TIP: Due to their larger size, scan results are generally improved when pulling or dragging phased array wedges.
  • Page 63 - Set front rotational adjustment knob Fig. 155 Loosen the front rotational adjustment knob to align the TOFD (Fig. 155) probe holders parallel with the scan surface (Fig. 156) - Align probes with the scan surface tangent Fig. 156 Lower probe holders to the inspection surface (see Probe Holder Vertical Adjustment on page 38 for additional details) PAGE 54 of 124...

  • Page 64: Pivoting Probe Holder Frame

    5.12. Pivoting Probe Holder Frame The pivoting probe holder frame utilizes vertical probe holders. The SKOOT HT can guide as many as 6 probes in the longitudinal direction. NOTE: A minimum OD of 762 mm (30 in) is required for longitudinal scanning.

  • Page 65: Mounting A Pivoting Probe Holder Frame

    5.12.1. Mounting a Pivoting Probe Holder Frame If attached, use the 3 mm hex driver to remove the probe holder pivot mount from the pivoting probe holder frame. Attach the wedges that are to be used with the probe holders (see Probe Holder Setup on page 37 for additional details).

  • Page 66: Pivoting Probe Holder Frame Setup

    5.12.2. Pivoting Probe Holder Frame Setup 5.12.2.1 Longitudinal Scanning To prepare the pivoting probe holder frame for longitudinal scanning, follow these steps: - Loosen pivot wing knobs Fig. 160 NOTE: The swivel mount must be in a horizontal position during longitudinal scanning (see "Swivel Mount"...

  • Page 67: Circumferential Scanning

    Lower the vertical probe holders (see "Probe Holder Vertical Adjustment" on page 38). - Correct probe holder longitudinal adjustment Fig. 162 Ensure probe holder arms are parallel to the scan surface (see "Probe Holder Longitudinal Adjustment" on page 40). 5.12.2.2 Circumferential Scanning (see Probe Holder Frame on page 52 for additional details) PAGE 58 of 124...

  • Page 68: Flange Scanning

    . Ensure proper placement of the frame bar with (Fig. 163) attached mounting point in relation to the SKOOT HT. TIP: When the scanning surface is circumferential, only one frame bar with two probes can be used. DP0029 Rev 00.6...
  • Page 69 - Lift frame bar to avoid interference Fig. 164 Loosen the pivot wing knob and raise the frame bar to an angle greater than the surface to be scanned . Tighten the pivot wing (Fig. 164) knob and place crawler on scan surface (see "Placement of Crawler on Inspection Surface"...
  • Page 70 - Align frame bar with flange scan surface Fig. 166 Loosen the pivot wing knob and align the frame bar parallel with the scan surface (Fig. 166) DP0029 Rev 00.6 PAGE 61 of 124...

  • Page 71: Ht Cable And Hose Management

    5.13. HT Cable and Hose Management The HT Cable and Hose Management is offered in a variety of lengths and provides a means of bundling and protecting cables and hoses that connect to the scanner. - HT cable and hose management Fig.

  • Page 72: Cable Management Setup

    Tighten the HT cable management clamp wing knob (Fig. 169) 5.13.2. Cable Management Setup - Insert cables and hoses - Zip to close Fig. 170 Fig. 171 Open the HT cable management sleeving. Begin at the clamp end and start placing the cabling in the sleeving (Fig.

  • Page 73: Clamp Setup

    5.13.3. Clamp Setup In the event the sleeving becomes disconnected from the HT cable management clamp, follow these instructions to reattach the sleeving and clamp. - Slide tube around mount Fig. 174 Loosen the clamp screw using the supplied 3 mm hex driver. Slide the clamp around the sleeving first and then slide the sleeving around the outside of the...
  • Page 74 - Hose routing with raster arm Fig. 179 To route hoses with a raster arm, follow these steps: Connect the hose fittings to the crawler’s quick connect fittings (Fig. 177) Connect the hose fittings to the raster arms’s quick connect fittings (Fig.

  • Page 75: Preparation For Use

    6.1. Transportation CAUTION! PINCH / CRUSH HAZARD. BE CAREFUL when passing the SKOOT HT 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.

  • Page 76: Tether Requirements And Attachment

    IMPORTANT: Tether hook must have a safety latch to prevent accidental disconnection. When used at a height greater than 2 m , the SKOOT HT crawler MUST be (6 ft) tethered with a proper tether system to prevent the crawler from falling. The...

  • Page 77: Preparation Of Inspection Surface

    6.3. Preparation of Inspection Surface CAUTION! Do NOT operate crawler on surfaces where ice or frost may be present. Remove build-up of scale, and other debris from surface on which (i.e. dirt, ice) ► 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.

  • Page 78: Configurations

    6.4. Configurations 6.4.1. Crawler with Raster Arm HT Description BOM ID Raster Arm HT Crawler Raster Cable Red Hose Blue Hose Cable Management Umbilical User’s Instrument Power Controller Auxiliary Cable Handheld Controller Auxiliary Cable Encoder Cable Power Cable Cooler - Raster Arm HT configuration Fig.
  • Page 79 To configure the SKOOT HT system for scanning using a Raster Arm HT, follow these steps: CAUTION! Do not disconnect under load. Shut off power before connection or disconnecting. Permanent damage to electronics could occur. Connect the power controller to the crawler using the (Fig.

  • Page 80: Crawler With Probe Holder Frame

    6.4.2. Crawler with Probe Holder Frame Description BOM ID Probe Holder Frame Crawler Blue Hose Red Hose Cable Management Umbilical User’s Instrument Power Controller Auxiliary Cable Handheld Controller Auxiliary Cable Encoder Cable Cooler Power Cable - Probe holder frame configuration Fig.
  • Page 81 To configure the SKOOT HT system for scanning using a probe holder frame, follow these steps (see "Probe Holder Frame" on page 52) CAUTION! Do not disconnect under load. Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

  • Page 82: Operation

    Chapter 7 OPERATION 7.1. System Startup - Power controller Fig. 184 To activate the system, follow these steps: Plug-in the power controller to the appropriate power source (see "Power Requirements" on page 7) Connect the components (see "Configurations" on page 69) Locate the red emergency stop push-button on the power controller.
  • Page 83 A warning message will display on the handheld controller when power has been activated . Once the dangers of using the SKOOT HT are recognized and (Fig. 185) understood by reading this user manual, touch to acknowledge the warning. *** DANGER ***...

  • Page 84: Placement Of Crawler On Inspection Surface

    7.2. Placement of Crawler on Inspection Surface 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. IMPORTANT! It is important to place the...
  • Page 85 - Lower crawler’s pry point towards inspection surface Fig. 189 NOTE: Umbilical, accessories and hoses not included in illustration. Ensure the manipulation handle is installed on the crawler. Ensure the Cooler is running and pumping fluid to the crawler. Do NOT place a crawler on a heated surface unless the Cooler is running properly.

  • Page 86: Removal Of Crawler From Inspection Surface

    (Fig. 190) 7.3. Removal of Crawler from Inspection Surface 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.
  • Page 87 Ensure the manipulation handle is installed on the crawler. - Press down on manipulation handle Fig. 192 Firmly grasp the crawler handle with one hand, and the manipulation handle with the other, carefully press down on the manipulation handle to lower the pry point of the crawler towards the inspection surface (Fig.

  • Page 88: Operation

    7.4. Operation 7.4.1. Handheld Controller Layout BOM ID Description Raster Joystick Fwd/Rev Joystick Click Wheel Controller Cable Connector Touchscreen - Handheld controller Fig. 195 DP0029 Rev 00.6 PAGE 79 of 124...

  • Page 89: Touchscreen

    Net Status: 05000000 Last Error: 00118130 Status Word: 1217 7.4.1.1 Touchscreen The handheld controller touchscreen Current mA: is the primary operator (Fig. 195-5) interface for the system. Buttons are indicated on-screen with a 3D border Temperature: (Fig. 196). PREV NEXT Exit - Sample touchscreen buttons Fig.

  • Page 90: Jog Mode

    7.4.3. Jog Mode Jog mode manually controls the system movement using the joysticks. SCAN SCAN Zero Crawler Crawler Raster Zero 76mm/s 76mm/s 92mm/s Cooler Cooler Exit Exit - Jog mode with Raster Arm HT - Jog mode Fig. 198 Fig. 199 NOTE: Jog mode is the default selection when the system is first activated.
  • Page 91 Edit screen. When a module position is modified, the position will be modified for all other system modes. NOTE: This function only zeroes the number displayed on the SKOOT HT handheld controller. It does not zero the position used in the data acquisition instrument.

  • Page 92: Latched Jog Mode

    7.4.4. Latched Jog Mode SCAN Zero Crawler Raster 76mm/s 92mm/s Screen or Knob to STOP Cooler Exit - Latched Jog Mode Fig. 201 Identical to standard jog mode, latched jog mode adds forward or reverse crawler movement at the selected scan rate. This eliminates the need to manually hold the left joystick (see "Jog Mode"...

  • Page 93: Axis Scan Setup Screen

    7.4.5.1 2 Axis Scan Setup Screen 2 Axis Scan Setup Scan Index Index Path Speed Exit - Two axis scan setup Fig. 202 The 2 Axis Scan Setup screen is used to program the desired scan pattern the system will use. POINT A –...

  • Page 94: Scan Speeds Screen

    Index C Past Max Raster Travel - Run button error Fig. 205 Initiates a check of the input values to ensure they are within Run Button: the system capabilities. When a scan pattern is invalid or out of range points entered, a warning will be displayed .

  • Page 95: Axis Scan Screen

    7.4.5.3 2 Axis Scan Screen 2 Axis Scan Scan Index Start Reset Cooler Exit - Two axis scan screen Fig. 207 The Two Axis Scan screen initiates and monitors the two axis scan. The screen displays a visual representation of the scan area .
  • Page 96 2 Axis Scan Scan 49mm Index 71mm Stop Reset Cooler Exit - Scan path Fig. 208 During a scan, a graphical representation of the scanner path is displayed (Fig. 208) 2 Axis Scan Scan 178mm Index 166mm Stop Reset Cooler Exit - Scan path close up Fig.

  • Page 97: Cooler Mode

    of the scanner will be changed to the current position. Press Back return to the Two Axis Scan screen to reset scanner and maintain original A position. Press to reset the A position and exit to the 2 Axis Continue Scan Setup screen.
  • Page 98 Cooler RUNNING Coolant: 23 °C Push Mode to turn OFF Mode Exit - Running screen Fig. 213 Normal Cooler operation begins when the operating flow is achieved. The Running screen is displayed (Fig. 213) Cooler RUNNING Turn off Cooler Are you Sure? Coolant: 23 °C Push Mode to turn OFF Mode...

  • Page 99: Cooler Warnings

    7.4.7. Cooler Warnings Cooler INSUFFICIENT FLOW! Check lines are not kinked and fittings are seated. Mode Exit - Running screen Fig. 215 If warning appears during initialization (Fig. 215): Pump will turn off. ► User to ensure hoses are straight, unobstructed and contains no kinks ►...

  • Page 100: System Utilities Screen

    7.4.8. System Utilities Screen Utilities User Settings Diagnostics Touch Cal Joystick Cal Draw Bounce Exit - Utilities screen Fig. 216 The Utilities screen provides access to the setup, diagnostics and user preference settings. Access the User Settings screen allowing for various User Settings Button: user preferences to be adjusted.

  • Page 101: Diagnostics Screens

    TITLE DESCRIPTION VALID DEFAULT RANGE Units In=0/MM=1 Changes the measurement units for display and user entry. When set to 0, units measure in inches. When set to 1, units measure in millimeters. Crawler Scan Sets the crawler scan rate in the 5-142 mm/s 43 mm/s unit/s...

  • Page 102: Detected Modules

    7.4.8.2.1. Detected Modules Diagnostics Detected Modules Skoot-L Raster600 NEXT Exit - Detected modules screen Fig. 218 Screen indicates the system software version and displays which modules were detected when the system was activated. 7.4.8.2.2. System 1 Diagnostics System 1 PowerOnTime: 55:48:42 Reset Cause: ResetInt:...

  • Page 103: System 3

    7.4.8.2.3. System 2 Diagnostics System 2 Free Timer: 5568 Heart Timer: Scrollwheel: Scrollbutton: Port B: 1010000000000000 Port D: 1100110000011110 PREV NEXT Exit - Diagnostic screen Fig. 220 Additional general system function information is displayed within the System 2 screen. An empty button is provided to allow testing of the click wheel.

  • Page 104: Skoot-L, Raster

    7.4.8.2.5. Skoot-L, Raster Diagnostics Skoot-L Status Reg: 01002690 Net Status: 05000000 Last Error: 00118130 Status Word: 1217 Current mA: Temperature: PREV NEXT Exit - Diagnostic screen Fig. 222 The Skoot-L diagnostic screen provides information regarding the status of the crawler. A separate screen is available for each module detected upon system startup.

  • Page 105: Touch Calibration Screen

    7.4.8.3 Touch Calibration Screen - Touch calibration screen Fig. 224 This option allows calibration of the touch screen. Typically, this should not be necessary. Touch the screen as the markers appear in the four corners of the screen. TIP: It is recommended that the markers be touched with a small object to enhance the touch position accuracy during calibration.

  • Page 106: Draw

    Joystick Calibration Left: Calibrate Right: Calibrate Exit - Joystick calibration screen Fig. 226 Current readings of the joysticks are displayed in the Joystick Calibration screen . When the numbers are not near zero, press the Calibrate (Fig. 226) button to recalibrate to 0. The new calibration is stored when the Exit button is pressed.

  • Page 107: Maintenance

    Chapter 8 MAINTENANCE 8.1. Safety Precautions Before Maintenance WARNING! ELECTRICAL SHOCK HAZARD. Disconnect the power controller when servicing the equipment. The power controller is powered even when the E-Stop push-button is latched in the off position. WARNING! MAGNETIC MATERIAL. The wheels of the crawler produce an extremely strong magnetic field which may cause failure or permanent damage to items such as watches, memory devices,...

  • Page 108: Maintenance Schedule

    TIP: All components with wiring, cables or electrical connections are splash proof but not submersible. NOTE: Never use strong solvents or abrasive materials to clean your scanner components. The SKOOT HT system must be maintained according to the following schedule. MAINTENANCE ITEM FREQUENCY Inspect safety apparatus All components of tether system.

  • Page 109: Troubleshooting

    Chapter 9 TROUBLESHOOTING 9.1. Technical Support For technical support contact Jireh Industries (see "Jireh Industries Ltd." on page 1) 9.2. Startup Issues Two messages are possible in the event of a startup issue: Joystick Off Center or Checking Network. 9.2.1. Joystick Off Center Left Joystick off Center and Will be Disabled.

  • Page 110: Checking Network

    9.2.2. Checking Network Checking Network - Checking network screen Fig. 229 During startup, the system initializes the communications to all the devices on the network. If the network communication fails for any reason, the Checking Network message will appear and remain on screen. Likely causes of this failure: No devices connected to the network.

  • Page 111: Scan Devices

    9.3.1. Scan Devices This utility scans the system network for devices. All possible device addresses and speeds are scanned. As devices are found, the address of the device and speed are displayed. When the scanning is complete, power to the system must be cycled.

  • Page 112: Reset Parameters

    9.3.2. Reset Parameters If the system parameters become corrupt or a change is made that prevents the system from functioning properly. All system parameters may be restored to their factory settings by selecting this option. When pressing the Reset Params button, the changes occur immediately.

  • Page 113: Additional Issues

    Check umbilical cable connections at properly connected. both ends. Ensure connectors are dry, clean and connector pins are not bent. SKOOT HT system not Start the SKOOT HT system. (see "System started. Startup" on page 73) Damaged components in Contact manufacturer.

  • Page 114: Retrieval Of A Stranded Crawler

    (i.e. a mechanism or person must be continuously taking up the slack in the tether) Should the SKOOT HT crawler become inoperative while out of reach, attempt first, the solutions offered in this manual (see "Troubleshooting" on page 100) If troubleshooting does not rectify the issue, it may be necessary to retrieve the crawler manually.

  • Page 115: Service And Repair

    Chapter 10 SERVICE AND REPAIR WARNING! ELECTRICAL SHOCK HAZARD. Disconnect the power controller when servicing the equipment. The power controller is powered even when the E-Stop push-button is latched in the off position. WARNING! MAGNETIC MATERIAL. The wheels of the crawler produce an extremely strong magnetic field which may cause failure or permanent damage to items such as watches, memory devices, CRT monitors, medical devices or other electronics.

  • Page 116: Spare Parts

    Chapter 11 SPARE PARTS To order accessories or replacement parts for your SKOOT HT system. (contact Jireh Industries Ltd. on page 1) NOTE: These drawings are for parts order. This is not a list of kit contents. 11.1. SKOOT HT Crawler...

  • Page 117: Skoot Ht Kit Components

    11.2. SKOOT HT Kit Components BOM ID PART # DESCRIPTION DNA006-X Power Controller (see Power Cord Type) CXA008 Handheld Controller UMA017-01 Auxiliary Cable 1 m (3.3 ft) UMA017-06 Auxiliary Cable 6 m (19.7 ft) EA414 3 mm Hex Driver (0.118 in)

  • Page 118: Encoder Connector Type

    BG0038-45 BG0038-50 (17.72 (19.69 BG0038-55 (21.65 11.2.1. Encoder Connector Type Connector Connector Company/Instrument Company/Instrument Type Type Olympus - OmniScan MX / Zetec - ZIRCON, TOPAZ Sonotron - Isonic Olympus - Focus LT / Zetec Z-Scan / Eddyfi Ectane 2 GE - USM Vision Olympus - OmniScan MX2, OmniScan SX Sonatest - VEO, PRISMA TD - Focus Scan, Handy Scan, Pocket Scan...

  • Page 119: Raster Arm Ht Module

    11.3. Raster Arm HT Module BOM ID Part # Description CWA009 300/600 Raster Arm Case UMA020-0.84 Raster Arm Cable CW0096 Cable Managment Clip CWS008-0600 Mounting Rail LA125 Quick Connect Fitting EDA002-0600 Raster Arm HT CWS023 Raster Arm Pivot Nose (female) CWS030 Raster Arm Pivot Nose (male)

  • Page 120: Hose Spare Parts

    11.4. Hose Spare Parts BOM ID PART # Description LA126 Hose Fitting DPA004-BLU-0.75 Hose Blue DPA004-RED-07.5 Hose Red - Hose spare parts Fig. 238 DP0029 Rev 00.6 PAGE 111 of 124...

  • Page 121: Probe Holder Frame

    11.5. Probe Holder Frame BOM ID Part # Description CXS043 Vertical Probe Holder Side Arm, Left CX0125 Knob, M4 x 16 CX0126 Knurled Knob, M4 x 0.7 x 11.5 hex, 4 stand off, SST CXS072-L Arm Mount Block, Left BG0038-X Frame Bar (see Frame Bar) CXS072-R...

  • Page 122: Low Profile Probe Holder Frame

    11.6. Low Profile Probe Holder Frame BOM ID Part # Description CXS023 Low Profile Side Arm CX0125 Knob, M4 x 16 CXS072-L Arm Mount Block, Left CX0126 Knurled Knob, M4 x 0.7 x 11.5 hex, 4 stand off, SST BG0038-X Frame Bar (see Frame Bar) CXS072-R...

  • Page 123: Pivoting Probe Holder Frame

    11.7. Pivoting Probe Holder Frame BOM ID Part # Description CXS043 Vertical Probe Holder Side Arm , Left CX0125 Knob, M4 x 16 CX0126 Knurled Knob, M4 x 0.7 x 11.5 hex, 4 stand off, SST CXS072-L Arm Mount Block, Left BG0038-X Frame Bar (see Frame Bar)

  • Page 124: Slip Joint Probe Holder Parts

    11.8. Slip Joint Probe Holder Parts BOM ID Part # Description PHS022 Slip Joint Probe Holder Subassembly MD050-010 SHCS, M4 x 0.7 x 10 , SST PH0104 Knurled Knob, M4 x 0.7 x 18 , 4 mm stand off, SST see Swing Arm Style PH0082 Knurled Knob, M4 x 0.7 x 10...

  • Page 125: Vertical Probe Holder Parts

    11.9. Vertical Probe Holder Parts BOM ID Part # Description PHS028 Vertical Probe Holder Subassembly PH0082 Knurled Knob, M4 x 0.7 x 10 mm, 3 mm stand off, SST see Arm Style PH0011-X Pivot Button Style (see Pivot Button Style) see Yoke Style MD050-010 SHCS, M4 x 0.7 x 10 mm, SST - Vertical probe holder parts...

  • Page 126: Heavy Duty Vertical Probe Holder

    11.10. Heavy Duty Vertical Probe Holder BOM ID Part # Description MD074-020 BHCS, M5 x 0.8 x 20 mm, SST PHS049 Heavy Duty Probe Holder Subassembly EA154 Probe Holder Arm Adjustment Knob See Heavy Duty Yoke Style PH0165 Probe Holder Arm PH0011-X Pivot Button Style (See Pivot Button Style)

  • Page 127: Corrosion Thickness Probe Holder

    11.11. Corrosion Thickness Probe Holder BOM ID Part # Description PHS079-C HT Corrosion Thickness Probe Holder - Flat Wear Plate - 19 (0.75 ) Diameter Receptacle BG0091 Cable Clip MA264 SHSS, M8 x 1.25 x 12 mm, dog point, SST - HT corrosion thickness probe holder parts Fig.

  • Page 128: Probe Holder Components

    (19.69 BG0038-55 NOTE: Additional probe holder pivot button types available. (21.65 BG0038-05 (1.97 BG0038-10 (3.94 Part # Length Part # Length (see "Jireh Industries Ltd." on page 1) BG0038-55 (21.65 BG0038-15 BG0038-20 (5.91 (7.87 BG0038-05 (1.97 BG0038-10 (3.94 Connector Connector...

  • Page 129: Variable Components

    (0.12 (0.09 11.13. Variable Components Zetec PA/TOFD Conical Head (0.20 Internal 11.13.1. Frame Bar Part # Length Part # Length BG0038-05 BG0038-10 (1.97 (3.94 BG0038-15 BG0038-20 (5.91 (7.87 BG0038-25 BG0038-30 (9.84 (11.81 BG0038-35 BG0038-40 (13.78 (15.75 BG0038-45 (17.72 BG0038-50 (19.69 BG0038-55 (21.65 - Frame bar selection...

  • Page 130: Cases

    11.14. Cases BOM ID Part # Description DPA005 SKOOT HT Crawler Case CMA016 Motorized Pump / Umbilical Case CXA023 Umbilical / Probe Holder Frame Case EA421 Umbilical Case CWA009 300 mm / 600 mm Raster Arm Case (12 in / 24 in) - Cases Fig.

  • Page 131: Disposal

    Electronic Equipment (WEEE), this symbol indicated that the product must not be disposed of as unsorted municipal waste, but should be collected separately. Refer to Jireh Industries for return and/or collection systems available in your country. PAGE 122 of 124...

  • Page 132: Limited Warranty

    THREE (3) YEARS from the original date of purchase. If a defect exists, at its option Jireh will (1) repair the product at no charge, using new or refurbished replacement parts, (2) exchange the product with a product that is new...
  • Page 133 Changes or modifications to this unit or accessories, not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment. All specifications are subject to change without notice. © 2019 Jireh Industries Ltd. PAGE 124 of 124...
  • Page 134 Jireh Industries Ltd. 53158 Range Road 224 Ardrossan, Alberta Canada T8E 2k4 780-922-4534 jireh.com...

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