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Jireh SKOOT Manual

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SKOOT
DN0047 Rev 08.1
Automated Scanner

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Summary of Contents for Jireh SKOOT

  • Page 1 SKOOT DN0047 Rev 08.1 Automated Scanner...
  • Page 2 SAFETY WARNINGS / PRECAUTIONS 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.
  • Page 3 CAUTION! DO NOT operate the SKOOT crawler on an inspection surface which is electrically connected to a component that is being welded. CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power before connection or disconnecting.
  • Page 4 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. (see Disposal on page 135 for additional details) DN0047 Rev 08.1 PAGE iii of viii...

  • Page 5: Table Of Contents

    1.3. Compliance Declarations 1.3.1. ISED Emissions Compliance (Canada) 1.3.2. FCC Suppliers Declaration of Conformity (United States) 1.3.3. European Union CE Declarations Product Specifications Chapter 2.1. Base SKOOT System 2.1.1. Intended Use 2.1.1.1 Operating Limits 2.1.1.2 Operating Environment 2.1.1.3 User 2.1.2. Unintended Use 2.1.3. Dimensions and Weight 2.1.4. Power Requirements 2.1.5. Environmental Sealing 2.1.6. Performance Specifications...
  • Page 6 2.2.7. Heavy Duty Vertical Probe Holder 2.2.8. Corrosion Thickness Probe Holder 2.2.9. HydroFORM Cart with Wheels 2.2.10. Preamp Bracket 2.2.10.1 Intended Use 2.2.10.2 Operating Limits 2.2.11. Battery Powered Optical Guide 2.2.11.1 Intended Use 2.2.11.2 Operating Environment 2.2.11.3 Power Requirements 2.2.11.4 Environmental Sealing 2.2.12. Medium Temperature Add-On Kit 2.2.12.1 Intended Use 2.2.12.2 Operating Limits 2.2.13. Encoder Adapter 2.2.13.1 Intended Use 2.3.
  • Page 7 4.3.3. Handheld Controller 4.3.4. Auxiliary Cable 4.3.5. Encoder Cable 4.3.6. Installation/Removal Mat 4.3.7. Lifting Sling 4.3.8. Irrigation Kit 4.3.9. Cable Management 4.3.10. Tools 4.3.11. Cases 4.4. Compatible Components 4.4.1. Low Profile Probe Holder Frame 4.4.2. Vertical Probe Holder Frame 4.4.3. Pivoting Probe Holder Frame 4.4.4. Frame Bar 4.4.5. Slip Joint Probe Holder 4.4.6. Vertical Probe Holder 4.4.7. Heavy Duty Vertical Probe Holder 4.4.8. Corrosion Thickness Probe Holder 4.4.9. HydroFORM Cart...
  • Page 8 5.5.1.4 Pivoting Probe Holder Frame 5.6. Crawler 5.6.1. Swivel Mount 5.6.2. Umbilical 5.6.3. Handle 5.6.4. Emergency Off Button 5.6.5. Cable Retainer 5.6.6. Manipulation Handle 5.7. Backpack 5.7.1. Mounting a Backpack 5.7.2. Using the backpack 5.8. Probe Holders 5.8.1. Heavy Duty Vertical Probe Holder 5.8.1.1 Probe Holder Setup 5.8.1.2 Probe Holder Vertical Adjustment 5.8.1.3 Probe Holder Left/Right Conversion 5.8.1.4 Probe Holder 90°...
  • Page 9 6.3.4. Latched Jog Mode 6.3.5. System Utilities Screen 6.3.5.1 User Settings Screen 6.3.5.2 Diagnostics Screens 6.3.5.2.1. Detected Modules 6.3.5.2.2. System 1 6.3.5.2.3. System 2 6.3.5.2.4. System 3 6.3.5.2.5. Skoot-L, Raster 6.3.5.3 Touch Calibration Screen 6.3.5.4 Joystick Calibration Screen 6.3.5.5 Draw 6.3.6. High Internal Temperature Screen Maintenance Chapter 7.1.
  • Page 10 Chapter 9.1. Technical Support Spare Parts Chapter 10.1. SKOOT Crawler 10.2. SKOOT Kit Components 10.2.1. Encoder Connector Type 10.2.2. Power Cord Type 10.3. Probe Holder Frame 10.4. Low Profile Probe Holder Frame 10.5. Pivoting Probe Holder Frame 10.6. Slip Joint Probe Holder Parts 10.7.

  • Page 11: System

    PAGE 2 of 137...

  • Page 12: Identification

    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.

  • Page 13: European Union Ce Declarations

    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...

  • Page 14: Product Specifications

    SEVERE INJURY or DEATH. 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.

  • Page 15: Operating Limits

    2.1.1.1 Operating Limits Category Parameter Specification Inspection Maximum coating thickness: Surface Up-side-down orientation Bare metal only Vertical orientation 0.5 mm (0.020 in) Horizontal, Right-side-up 1 mm (0.040 in) orientation Condition Clean, free of excess rust, scale, debris , ice, frost (i.e.

  • Page 16: Operating Environment

    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 17: Unintended Use

    1. a person who is trained in rigging and fall protection and is able to effectively 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 ►...
  • Page 18 14.9 (5.9 16.1 (6.3 11.2 (4.4 21.8 (8.6 Fig. 1 - Crawler dimensions 20.8 (8.2 (0.9 13.4 (5.3 Fig. 2 - Width DN0047 Rev 08.1 PAGE 9 of 137...

  • Page 19: Power Requirements

    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. Power Requirements: 100-240VAC, 50/60Hz, 1.4 Amps 2.1.5. Environmental Sealing Dust-tight, watertight (not submersible) 2.1.6. Performance Specifications...

  • Page 20: Encoder Interface Specifications

    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 Fig. 3 - Jireh Industries pin out configuration DN0047 Rev 08.1 PAGE 11 of 137...

  • Page 21: Compatible Components

    The Low Profile Probe Holder Frame is intended to be mounted in the SKOOT’s swivel mount to provide mounting of multiple probe holders. Its use limits the SKOOT’s operation to inspection surfaces that are either flat or driven on in the circumferential direction.

  • Page 22: Pivoting Probe Holder Frame

    2.2.3. Pivoting Probe Holder Frame CXG013- The Pivoting Probe Holder Frame is intended to be mounted in the SKOOT’s swivel mount to provide mounting of multiple probe holders. Its use limits the SKOOT’s operation to the operating limits shown below.

  • Page 23: Slip Joint Probe Holder

    2.2.5. Slip Joint Probe Holder PHA012- The Slip Joint Probe Holder is intended to provide a probe holding solution for probes and wedges with pivot button holes. It is useful for situations requiring lower profile. It is mounted in the dovetail groove of any probe holder frame or frame bar.

  • Page 24: Preamp Bracket

    2.2.10.1 Intended Use The Preamp Bracket is intended to mount objects such as preamps, splitters, etc. on a rack or dovetail bar that is mounted to the SKOOT crawler. The mounted object is attached to the SKOOT with a lanyard or probe cables strong enough to prevent the object from falling, should the straps or screws that hold it to the bracket fail.

  • Page 25: Medium Temperature Add-On Kit

    2.2.12. Medium Temperature Add-On Kit CXG031- 2.2.12.1 Intended Use The Medium Temperature Add-On Kit allows the SKOOT to operate on inspection surfaces that are hotter. 2.2.12.2 Operating Limits Category Parameter Specification Inspection surface Maximum surface 150°C (302°F) temperature 2.2.13. Encoder Adapter UMA010- 2.2.13.1 Intended Use...

  • Page 26: Child Products

    CWG002- Available in various lengths, the Motorized Raster Arm can carry many different probes for various types of corrosion scans. The Motorized Raster Arm is intended to be mounted in the SKOOT’s swivel mount. 2.3.3. Optical Guide CXG035 The Optical Guide mount’s to any dovetail attached to a motorized crawler. The...

  • Page 27: Definitions

    Chapter 3 DEFINITIONS 3.1. Definition 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. 3.2.

  • Page 28: Safety Symbols

    3.3. Safety Symbols The following safety symbols might appear on the product and in this document. Read and understand their meaning below: General warning This symbol is used to alert the user to potential symbol hazards. All safety messages that follow this symbol shall be obeyed to avoid possible ham or material damage.

  • Page 29: System Components

    Chapter 4 SYSTEM COMPONENTS 4.1. Component Identification 4.1.1. Base System Fig. 6 - SKOOT (crawler) Fig. 7 - Backpack Fig. 8 - Manipulation handle DNA004 DNS008 DNS006 Fig. 9 - Handheld controller Fig. 11 - Auxiliary cable Fig. 10 - Encoder cable...

  • Page 30: Compatible Components

    Fig. 18 - 3 mm hex driver Fig. 19 - 3/8 in wrench Fig. 20 - 3 mm flat driver EA414 EA470 EA480 Fig. 21 - SKOOT crawler case Fig. 22 - Umbilical / probe holder frame case Fig. 23 - Umbilical case DNA010 CXA023 EA421 Fig.
  • Page 31 Fig. 28 - Frame bar Fig. 29 - Slip joint probe holder Fig. 30 - Vertical probe holder BG0038- PHA012- PHA015- Fig. 31 - Heavy duty vertical probe holder Fig. 32 - Corrosion thickness probe holder Fig. 33 - Corrosion thickness probe holder PHS043- PHS046- PHS056-...

  • Page 32: Child Products

    4.1.3. Child Products Fig. 39 - Motorized Couplant Pump Fig. 40 - Motorized raster arm Fig. 41 - Optical Guide CMA015 CWG002- CXG035 DN0047 Rev 08.1 PAGE 23 of 137...

  • Page 33: Tools

    4.2.1. Included Tools Fig. 42 - 3 mm hex driver Fig. 43 - 3/8 in wrench The included 3 mm hex driver (Fig. 42) is suitable for typical SKOOT and probe holder adjustments. A 3/8 in wrench is provided (Fig. 43) to remove and install probe holder buttons.

  • Page 34: Base System Components

    4.3.1.1 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 system will disengage. NOTE: Terminating system power may cause the crawler to freewheel down when operating in a vertical orientation.

  • Page 35: Power Controller

    Return to manufacturer for repair. Fig. 51 - Power controller The SKOOT 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 36: Ac/Dc Power Supply

    CTRL socket Connection for the auxiliary cable ENC socket Connection for the encoder cable Power connection Connect plug from a properly grounded source. Use IEC320 cord approved for AC supply Power button Activate system power by pressing (and releasing) the green button. Stop button The red stop button latches down when pressed, this stop button shuts down the...

  • Page 37: Handheld Controller

    4.3.3. Handheld Controller CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power before connection or disconnecting. Permanent damage to electronics could occur. Fig. 53 - Handheld controller 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.

  • Page 38: Auxiliary Cable

    NOT be utilized. Use of a damaged cable may be a safety hazard and could also put other system components at risk. 4.3.5. Encoder Cable The encoder cable connects the SKOOT system to the user’s instrument. This cable allows transmission of two-axis position signals from the SKOOT to the instrument.

  • Page 39: Lifting Sling

    4.3.7. Lifting Sling The lifting sling attaches to the crawler to provide an attachment point for tethers. When operating a SKOOT at a height greater than 2 m , the (6 ft) crawler MUST be tethered with a proper tether...

  • Page 40: Compatible Components

    4.4.1. Low Profile Probe Holder Frame The low profile probe holder frame carries up to four probes during limited access, circumferential weld inspection. Removal of the SKOOT handles and the use of the low profile probe holder frame allows inspection when radial clearance is limited.

  • Page 41: Vertical Probe Holder

    4.4.6. Vertical Probe Holder The vertical probe holder is designed to carry many different types of probes and wedges. Available with various types of yokes, arms and pivot buttons. The vertical probe holder features several different adjustment options for each unique probe/wedge setup.

  • Page 42: Battery Powered Optical Guide

    (i.e. a weld) Fig. 70 - Battery powered optical guide 4.4.12. Automated Crawler Medium Temperature Add-On Kit The automated crawler medium temperature add-on kit enables a SKOOT crawler to operate on an inspection surface with a temperature up to 150°C (302°F) Fig.

  • Page 43: Child Products

    4.5. Child Products 4.5.1. Motorized Couplant Pump The motorized couplant pump is a powered pumping unit used for supplying couplant fluid to the scanning surface. Fig. 73 - Motorized couplant pump 4.5.2. Motorized Raster Arm The motorized raster arm is available in various lengths and offers programmable speed and travel settings.

  • Page 44: Preparation For Use

    5.1. Preparation for Transportation 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.

  • Page 45: Tether Requirements And Attachment

    Before placing the crawler on the surface to be inspected , attach the (e.g. tank) provided lifting sling to the SKOOT and then hook the tether hook to the lifting sling. CAUTION! The overhead attachment point for the tether must be located as close as possible to...

  • Page 46: Lifting Sling Setup

    Wrap the supplied lifting sling around the handle of the SKOOT using a choker hold knot (Fig. 77) and (Fig. 78) 2. Ensure the lifting sling is attached correctly to the SKOOT and inspect the lifting sling for any damage prior to use. 5.3. Preparation of Inspection Surface WARNING! FALLING OBJECT HAZARD.

  • Page 47: System Connectivity

    5.4. System Connectivity Fig. 79 - Standard crawler configuration PAGE 38 of 137...
  • Page 48 Auxiliary cable (alternate) Auxiliary cable Power controller User instrument Handheld controller Encoder cable To configure the SKOOT system for scanning, follow these steps: CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

  • Page 49: Configurations

    5.5. Configurations 5.5.1. Crawler with Multiple Probe Holders 5.5.1.1 Vertical Probe Holder Frame Fig. 80 - Probe holder frame configuration BOM ID Description Vertical probe holder frame Crawler PAGE 40 of 137...
  • Page 50 To configure the SKOOT system for scanning using a vertical probe holder frame, follow these steps (see “Vertical Probe Holder Frame - Flat or Circumferential Only” on page 76) CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power before connection or disconnecting.

  • Page 51: Low Profile Probe Holder Frame

    5.5.1.2 Low Profile Probe Holder Frame Fig. 81 - Low profile probe holder frame configuration BOM ID Description Low profile probe holder frame Crawler PAGE 42 of 137...
  • Page 52 To configure the SKOOT system for scanning using a low profile probe holder frame, follow these steps (see “Low Profile Probe Holder Frame - Flat or Circumferential Only” on page 72) CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power before connection or disconnecting.

  • Page 53: Pivoting Probe Holder Frame

    5.5.1.3 Pivoting Probe Holder Frame Fig. 82 - Pivoting probe holder frame configuration BOM ID Description Pivoting probe holder frame Crawler PAGE 44 of 137...
  • Page 54 To configure the SKOOT system for scanning using a pivoting probe holder frame, follow these steps (see “Pivoting Probe Holder Frame” on page 80) CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power before connection or disconnecting. Permanent damage to electronics could occur.

  • Page 55: Pivoting Probe Holder Frame

    5.5.1.4 Pivoting Probe Holder Frame Fig. 83 - Pivoting probe holder frame configured for flange scanning BOM ID Description Flange probe holder frame Crawler PAGE 46 of 137...
  • Page 56 To configure the SKOOT system for scanning using a pivoting probe holder frame configured for flange scanning, follow these steps (see “Pivoting Probe Holder Frame - Flange Scanning” on page 84) CAUTION! DO NOT DISCONNECT UNDER LOAD. Shut off power before connection or disconnecting.

  • Page 57: Crawler

    5.6. Crawler 5.6.1. Swivel Mount Fig. 84 - Frame bar installation Fig. 85 - Swivel mount angle Located at the front of the crawler, the swivel mount is used to connect scanning accessories such as a raster arm module, probe frame system or corrosion thickness probe holder.

  • Page 58: Umbilical

    Fig. 89 - Connect to umbilical Fig. 90 - Align with crawler’s umbilical mount Align the pins of the umbilical to the connector at the rear of the SKOOT (Fig. 89) 2. Twist the umbilical’s sleeve clockwise locking the umbilical in place (Fig.

  • Page 59: Handle

    Fig. 91 - Correct umbilical use Fig. 92 - Incorrect umbilical use 3. Ensure the umbilical strain relief never points downwards during operation (Fig. 92). 5.6.3. Handle The handle can be lowered to achieve low profile scanning. Fig. 93 - Unscrew handle lock screw PAGE 50 of 137...

  • Page 60: 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 system will disengage. To restore system power, it is necessary to press the green power button located on the power controller (see “Power...

  • Page 61: Manipulation Handle

    5.6.6. Manipulation Handle Fig. 99 - Manipulation handle The manipulation handle provides a means of orienting the scanner (Fig. 99) 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 62: Backpack

    5.7. Backpack The SKOOT backpack provides a mounting point for scanning peripherals. The flexible strap securely holds any preamp, splitters or scan accessories to the SKOOT crawler. 5.7.1. Mounting a Backpack To mount the backpack, follow these steps. Fig. 100 - Angle backpack Fig.

  • Page 63: Using The Backpack

    5.7.2. Using the backpack The flexible strap of the backpack stretches to hold various scanning accessories to crawler. Fig. 103 - Press lever down and pull to release Press the strap’s lever down and then pull to release the (Fig. 103-1) (Fig.

  • Page 64: Probe Holders

    5.8. Probe Holders 5.8.1. 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 Fig. 105 - Heavy duty vertical probe holder 5.8.1.1 Probe Holder Setup Fig.
  • Page 65 Fig. 108 - Remove outer arm Fig. 109 - Adjust inner arm 3. Loosen the probe holder adjustment knob and remove the outer probe holder arm (Fig. 108) 4. Loosen the arm clamp screw (Fig. 109). 5. Place the wedge on the pivot button of the inner probe holder (Fig.

  • Page 66: Probe Holder Vertical Adjustment

    5.8.1.2 Probe Holder Vertical Adjustment Fig. 112 - Press up and pull latch Fig. 113 - Lowered toward scan surface 1. Gently lift the heavy duty vertical probe holder and simultaneously pull the latch . This action will unlock the probe holder. Slowly lower (Fig.

  • Page 67: Probe Holder Left/Right Conversion

    5.8.1.3 Probe Holder Left/Right Conversion Fig. 114 - Remove yoke Fig. 115 - Orient to opposite side 1. Using the supplied 3 mm driver, unscrew the yoke (Fig. 114). 2. Position the yoke and arms to the opposite side of the probe holder (Fig.

  • Page 68: Probe Holder 90° Adjustment

    5. Position the pivot buttons to the inside of the probe holder arms (Fig. 118) 6. Place the probe holder arms on the yoke and tighten the arm clamp screw and probe holder adjustment knob (Fig. 119) 7. Screw the yoke to the probe holder (Fig.

  • Page 69: Vertical Probe Holder

    5.8.2. 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 Fig. 122 - Vertical probe holder 5.8.2.1 Probe Holder Setup Fig. 123 - Adjust on frame bar Fig.

  • Page 70: Probe Holder Vertical Adjustment

    To mount a UT wedge in the probe holder, follow these steps: Fig. 126 - Adjust inner arm Fig. 127 - Adjust outer arm Fig. 128 - Tighten arm knob 2. Position the wedge on the inner probe holder arm (Fig.

  • Page 71: 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. 129) 2. Loosen the vertical adjustment knob and slide the probe holder down until the wedge is approximately 6 mm above inspection surface.

  • Page 72: Probe Holder Longitudinal Adjustment

    Ensure the probe holder is in latched, upper position (Fig. 129) 2. Using the supplied 3 mm hex driver loosen the transverse adjustment screw and rotate the yoke about the vertical shaft achieving the desired (Fig. 133) angle. 3. Tighten the transverse adjustment screw (Fig.

  • Page 73: Probe Holder Left/Right Conversion

    5.8.6. 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. 45) is required. Fig. 139 - Unscrew yoke pivot screw Fig. 140 - Remove probe holder arms Ensure the probe holder is in latched, upper position (Fig.
  • Page 74 Fig. 143 - Screw yoke to opposite side Fig. 144 - Lower 90° stop post 6. Mount the yoke to the opposite side of the base using the supplied 3 mm hex driver (Fig. 143) TIP: Keep the yoke level with the base as to ensure no conflicts with the plunger/set screw attached to the yoke.

  • Page 75: 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 Fig. 147 - Slip Joint Probe Holder 5.9.1. Probe Holder Setup To mount a UT wedge in the probe holder, follow these steps: Fig.
  • Page 76 3. Use swing arm knob to position the swing arm (Fig. 150). 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. 4. Using the supplied 3/8 in wrench, place the pivot buttons farthest (Fig.

  • Page 77: Probe Holder Adjustment

    5.9.2. Probe Holder Adjustment To adjust the probe holder, follow these steps: 6 mm approx. Fig. 155 - Lift to latched position Fig. 156 - Lower to scanning surface Ensure probe holder is in latched, upper position . If the probe (Fig.
  • Page 78 To adjust the probe holder’s force, follow these steps: NOTE: Do not perform this operation on scanning surface. Fig. 159 - Lift slightly and press Latch Fig. 160 - Unlatched position Ensure the probe holder is in the upright latched position (Fig.

  • Page 79: 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: Fig. 164 - Unscrew yoke pivot screw Fig. 165 - Remove arms Unscrew the yoke from the swing arm (Fig. 164) 2. Loosen the probe holder arm adjustment knob and arm clamp screw. Slide the arms from the yoke (Fig.
  • Page 80 Fig. 168 - Position swing arm Fig. 169 - Install yoke to swing arm 5. 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.

  • Page 81: Probe Holder Frames

    SEVERE INJURY or DEATH could result. The low profile frame adds weld scanning capability to the SKOOT motorized scanner. This frame can utilize slip joint probe holders (2 Phased Array and .
  • Page 82 Fig. 172 - Position primary and secondary probe holders 2. 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.
  • Page 83 Fig. 174 - Set rear rotational adjustment knob 5. Loosen the rear rotational adjustment knob to lower the front frame bar of the low profile frame towards the inspection surface (Fig. 174) Fig. 175 - Align probe holder tangent with scan surface 6.
  • Page 84 Lower the probe holders to the inspection surface. (see “Probe Holder Adjustment” on page 68) Fig. 176 - Low profile probe holder frame DN0047 Rev 08.1 PAGE 75 of 137...

  • Page 85: Vertical Probe Holder Frame - Flat Or Circumferential Only

    SEVERE INJURY or DEATH could result. The vertical probe holder frame adds weld scanning capability to the SKOOT motorized scanner. This frame uses (4) vertical probe holders. Additional frame components allow up to six probes to be used (contact Jireh Industries Ltd.
  • Page 86 Fig. 178 - Position primary and secondary probe holders 2. Affix the probe holders to the probe holder frame. (with attached wedges) Place the secondary probe holder at the front of the frame (Fig. 178-1) place the primary probe holders at the rear of the frame bar (Fig.
  • Page 87 4. Release the two swivel mount levers to position the swivel mount (Fig. 179) parallel to the scan surface . When alignment with scan surface is (Fig. 180) achieved, lock the crawler swivel mount levers. Fig. 180 - Set rear rotational adjustment knob 5.
  • Page 88 6. Loosen the front rotational adjustment knob to align the TOFD (Fig. 181) probe holders parallel with the scan surface (Fig. 182) Fig. 182 - Align probes with the scan surface tangent DN0047 Rev 08.1 PAGE 79 of 137...

  • Page 89: Pivoting Probe Holder Frame

    SEVERE INJURY or DEATH could result. The pivoting probe holder frame utilizes vertical probe holders. The SKOOT can guide as many as six probes in the longitudinal direction. NOTE: A minimum OD of 762 mm (30 in) is required for longitudinal scanning.

  • Page 90: Mounting A Pivoting Probe Holder Frame

    5.10.3.1 Mounting a Pivoting Probe Holder Frame 1. If attached, use the 3 mm hex driver to remove the probe holder pivot mount from the pivoting probe holder frame. 2. Attach the wedges that are to be used with the probe holders (see Probe Holder Setup on page 60 for additional details).

  • Page 91: Pivoting Probe Holder Frame Setup - Longitudinal Scanning

    5.10.4. Pivoting Probe Holder Frame Setup - Longitudinal Scanning 5.10.4.1 Longitudinal Scanning To prepare the pivoting probe holder frame for longitudinal scanning, follow these steps: Fig. 186 - Loosen pivot wing knobs NOTE: The swivel mount must be in a horizontal position during longitudinal scanning (see “Crawler”...

  • Page 92: Circumferential Scanning

    Fig. 187 - Tighten pivot wing knobs 2. Lower the vertical probe holders (see “Probe Holder Vertical Adjustment” on page 61). Fig. 188 - Correct probe holder longitudinal adjustment 3. Ensure probe holder arms are parallel to the scan surface (see “Probe Holder Longitudinal Adjustment”...

  • Page 93: Pivoting Probe Holder Frame - Flange Scanning

    The pivoting probe holder frame may be configured to allow scanning of flanges and the like. The following steps explain setup of this configuration: Fig. 189 - Configure assembly and mount to SKOOT 1. Disassemble the pivoting probe holder frame to achieve the setup shown .
  • Page 94 Fig. 190 - Lift frame bar to avoid interference 2. 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. 190) knob and place crawler on scan surface (see “Placement of Crawler on Inspection Surface”...
  • Page 95 Fig. 192 - Align frame bar with flange scan surface 4. Loosen the pivot wing knob and align the frame bar parallel with the scan surface (Fig. 192) PAGE 86 of 137...

  • Page 96: Optical Guide Pivot Mount

    5.10.5. Optical Guide Pivot Mount Fig. 193 - Correct probe holder longitudinal adjustment An optional mounting point for any optical guide is available. (see “Battery Powered Optical Guide” on page 88) ► (see “Optical Guide” user manual) ► To install the pivot mount, see these following instructions: Remove the dovetail bar pivot from one of the sets of frame bars (Fig.

  • Page 97: Accessories

    Fig. 194 - Battery powered optical guide The battery powered optical guide provides a reference point useful for a aligning the SKOOT too a given path (i.e. a weld) The battery powered optical guide may be installed and setup as Fig.

  • Page 98: Cable Management

    5.11.2. Cable Management The cable management is offered in a variety of lengths and provides a means of bundling and protecting cables and hoses that connect to the scanner. 5.11.2.1 Mounting the Cable Management To attach cable management with threaded mount, follow these steps: Fig.

  • Page 99: Clamp Setup

    Fig. 202 - Zip opposite end Fig. 203 - Flexible routing 3. Once the cable is placed the entire length of tube, bring the zipper from the opposite end to meet at any point in the middle. When necessary, the two zippers may be opened to allow any cables to be routed out of the tube.

  • Page 100: Preamp Bracket

    1.36 kg (3 lb) ► are attached to the SKOOT with a lanyard or probe cables strong enough to ► prevent the object from falling have smooth edges so as not to cut preamp velcro strap ►...

  • Page 101: Operation

    Chapter 6 OPERATION 6.1. System Startup Fig. 210 - Power controller To activate the system, follow these steps: Plug-in the power controller to the appropriate power source (see “Power Requirements” on page 10) Connect the components (see “Configurations” on page 40) Locate the red emergency stop push-button on the power controller.
  • Page 102 A warning message will display on the handheld controller when power has been activated . Once the dangers of using the SKOOT are recognized and (Fig. 211) understood by reading this user manual, touch  Ok  to acknowledge the warning. *** DANGER ***...

  • Page 103: Placement Of Crawler On Inspection Surface

    6.2. Placement of Crawler on Inspection Surface WARNING! FALLING OBJECT HAZARD. Read and understand the proper procedure for using the Installation/Removal Mat. If crawler installation is done at elevated heights, improper use may cause the crawler to fall and SEVERE INJURY or DEATH could result.

  • Page 104: Scanner Installation/Removal Mat Use

    6.2.1. Scanner Installation/Removal Mat Use To place the crawler on the inspection surface, follow these steps: NOTE: For scanner installation/removal on inspection surfaces with a temperature between 50°C and 150°C (122°C and 302°C), use the medium temperature installation/removal mat found in the automated crawler medium temperature add-on kit.
  • Page 105 Fig. 214 - Place installation/removal mat Fig. 215 - Lower crawler to mat Place the installation/removal mat on the inspection surface (Fig. 14) (Fig. 214) Place and hold the crawler on the installation/removal mat (Fig. 215) NOTE: Do NOT release crawler when placed on the installation/removal mat. Fig.

  • Page 106: Operation

    TIP: Circumstance may arise when only one person is available for placement of the crawler on a inspection surface. With the system power off, it is possible to place the crawler on the inspection/removal mat and manually push the crawler off the mat and onto the inspection surface.

  • Page 107: Click Wheel

    6.3.1.2 Click Wheel The click wheel provides a redundant system control that may be (Fig. 219-3) utilized in lieu of the touchscreen. A blinking box around a button indicates the click wheel selection. Rotating the click wheel selects different buttons on-screen.

  • Page 108: Jog Mode

    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 handheld controller. It does not zero the position used in the data acquisition instrument.
  • Page 109 Module Rate Button(s) Displays the current maximum rate for the  4   (Fig. 222) selected speed mode. Press to set the maximum rate using the Edit screen. The movement commanded by the joysticks will be limited to the indicated rate. When a rate is modified, the rate will be modified for all other system modes.

  • Page 110: Latched Jog Mode

    6.3.4. Latched Jog Mode SCAN Crawler Zero 76mm/s Screen or Knob to STOP Exit Fig. 224 - Latched jog mode 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 111: System Utilities Screen

    6.3.5. System Utilities Screen Utilities User Settings Diagnostics Touch Cal Joystick Cal Draw Bounce Exit Fig. 225 - Utilities screen Utilities screen provides access to the setup, diagnostics and user preference settings. User Settings Button Access the User Settings screen allowing for (Fig.
  • Page 112 knob or and  Down  buttons to select different settings. Press Edit to enter the Edit screen to apply changes to the selected setting. Exit button direct to the System Utilities screen. DN0047 Rev 08.1 PAGE 103 of 137...

  • Page 113: 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 current 5-142 mm/s 43 mm/s unit/s...

  • Page 114: Detected Modules

    6.3.5.2.1. Detected Modules Diagnostics Detected Modules Skoot-L Raster600 NEXT Exit Fig. 227 - Detected modules screen Screen indicates the system software version and displays which modules were detected when the system was activated. 6.3.5.2.2. System 1 Diagnostics System 1 PowerOnTime:...

  • Page 115: System 3

    6.3.5.2.3. System 2 Diagnostics System 2 Free Timer: 5568 Heart Timer: Scrollwheel: Scrollbutton: Port B: 1010000000000000 Port D: 1100110000011110 PREV NEXT Exit Fig. 229 - Diagnostic screen Additional general system function information is displayed within System 2 screen. An empty button is provided to allow testing of the click wheel.

  • Page 116: Skoot-L, Raster

    6.3.5.2.5. Skoot-L, Raster Diagnostics Skoot-L Status Reg: 01002690 Net Status: 05000000 Last Error: 00118130 Status Word: 1217 Current mA: Temperature: PREV NEXT Exit Fig. 231 - Diagnostic screen 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 117: Touch Calibration Screen

    AuxEncPos Displays the position of the auxiliary encoder in counts when connected to the module. When the auxiliary encoder is moved, this number will change. When the encoder is moved from its current position and then back to that exact same position, this number will also return to its original position EncPos The position of the modules motor encoder...

  • Page 118: Joystick Calibration Screen

    6.3.5.4 Joystick Calibration Screen Left Joystick off Center and Will be Disabled. Fig. 234 - Joystick error Typically joystick calibration is only necessary when a joystick off center error is detected upon startup . Calibration may also be used when (Fig.

  • Page 119: Draw

    When the system approaches its maximum operating temperature, the high internal temperature screen will display. When this alert screen is displayed, all motor and system function will cease. Press to reactivate the system to remove SKOOT from the scan surface. PAGE 110 of 137...

  • Page 120: Maintenance

    Chapter 7 MAINTENANCE 7.1. 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 121: Maintenance Schedule

    7.3. Maintenance Schedule The SKOOT system must be maintained according to the following schedule. Task Frequency Inspect safety apparatus This includes: ● All components of tether system. Replace damaged Every Use components as necessary. ● Lifting sling on crawler. If the lifting sling shows signs of damage do NOT use.

  • Page 122: Troubleshooting

    Chapter 8 TROUBLESHOOTING 8.1. Startup Issues Two messages are possible in the event of a startup issue: Joystick Off Center Checking Network. 8.1.1. Joystick Off Center Left Joystick off Center and Will be Disabled. Fig. 238 - Joystick off centre screen Upon system startup, the joystick positions are detected.

  • Page 123: Startup Override

    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. 2.

  • Page 124: Scan Devices

    8.2.1. 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 125: Reset Parameters

    8.2.2. 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 126: Additional Issues

    Umbilical cable not Check umbilical cable connections at both properly connected. ends. Ensure connectors are dry, clean and connector pins are not bent. SKOOT system not Start the SKOOT system. (see “System Startup” started. on page 92) Damaged components in Contact manufacturer.

  • Page 127: Retrieval Of A Stranded Crawler

    (i.e. a mechanism or person must be continuously taking up the slack in the tether). Should the SKOOT crawler become inoperative while out of reach, attempt first, the solutions offered in this manual (see “Troubleshooting” on page 113) If troubleshooting does not rectify the issue, it may be necessary to retrieve the crawler manually.

  • Page 128: Service And Repair

    9.1. Technical Support For technical support contact Jireh Industries (see “Jireh Industries Ltd.” on page 3). DN0047 Rev 08.1 PAGE 119 of 137...

  • Page 129: Spare Parts

    Chapter 10 SPARE PARTS To order accessories or replacement parts for your SKOOT system. (contact Jireh Industries Ltd. on page 3) NOTE: These drawings are for parts order. This is not a list of kit contents. 10.1. SKOOT Crawler BOM ID Part #...

  • Page 130: Skoot Kit Components

    10.2. SKOOT Kit Components BOM ID Part # Description UMA022-X Umbilical (various lengths available) EA243 Sling See Cable Management Sleeving UMA017-06 Auxiliary Cable CES066 Cable Management Clamp DNS006 Manipulation Handle DNA008 SKOOT Case CXS073 Cable Management Mount AAS061 Installation/Removal Mat...

  • Page 131: Encoder Connector Type

    Length Swing Arm Style Part # Length Swing Arm Style Part # NOTE: Additional encoder connector types available. Short PH0069 (contact Jireh Industries Ltd. on page 3) Long PH0100 (1.61 (1.81 10.2.2. Power Cord Type Part # Length Part #...

  • Page 132: Probe Holder Frame

    10.3. 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 133: Low Profile Probe Holder Frame

    10.4. 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 134: Pivoting Probe Holder Frame

    10.5. 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 135: Slip Joint Probe Holder Parts

    10.6. Slip Joint Probe Holder Parts BOM ID Part # Description PH0104 Knurled Knob, M4 x 0.7 x 18 , 4 mm stand off, SST PH0082 Knurled Knob, M4 x 0.7 x 10 , 3 mm stand off, SST PHS022 Slip Joint Probe Holder Subassembly see Swing Arm Style MD050-010 SHCS, M4 x 0.7 x 10...

  • Page 136: Vertical Probe Holder Parts

    10.7. 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 MD050-010 SHCS, M4 x 0.7 x 10 mm, SST see Yoke Style see Arm Style PH0011-X Pivot Button Style...

  • Page 137: Heavy Duty Vertical Probe Holder

    10.8. 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 Heavy Duty Probe Holder Arm, Standard, Drop PH0011-X Pivot Button Style (See Pivot Button Style)

  • Page 138: Corrosion Thickness Probe Holder

    10.9. Corrosion Thickness Probe Holder BOM ID Part # Description BG0091 Cable Clip See Probe Holder Receptacle and Wear Plate MA264 SHSS, M8 x 1.25 x 12 mm, dog point, SST Fig. 253 - Corrosion thickness probe holder parts DN0047 Rev 08.1 PAGE 129 of 137...

  • Page 139: Probe Holder Components

    BG0038-50 BG0038-55 (21.65 NOTE: Additional probe holder pivot button types available. (1.97 (3.94 BG0038-05 BG0038-10 Part # Length Part # Length (see “Jireh Industries Ltd.” on page 3) BG0038-55 (21.65 BG0038-15 BG0038-20 (5.91 (7.87 BG0038-05 (1.97 BG0038-10 (3.94 Connector Connector...

  • Page 140: Probe Holder Receptacle And Wear Plate

    Yoke Style Part # Length Yoke Style Part # Length 10.10.6. Probe Holder Receptacle and Wear Plate Standard PHS052 (2.47 Wide PHS063 (3.06 Part # Wear Plate Part # Wear Plate Receptacle Receptacle PHS066-A Curved 9.53 mm (0.375 in) dia. PHS066-B Curved 12.7 mm (0.5 in) dia.

  • Page 141: Accessories

    10.12. Accessories 10.12.1. Automated Crawler Medium Temperature Add-On Kit BOM ID Part # Description CXG031-04.5 Automated Crawler Medium Temperature Add-On Kit CXS102 Medium Temperature Installation/Removal Mat CX0371-04.5 Medium Temperature Sleeving CXS114 Medium Temperature Clamp CXS112 Medium Temperature Mount Fig. 262 - Automated Crawler Medium Temperature Add-On Kit PAGE 132 of 137...

  • Page 142: Preamp Bracket

    10.12.2. Preamp Bracket Part # Description CES029 Preamp Bracket CES029-V Preamp Bracket with Velcro Fig. 263 - Preamp bracket 10.12.3. Battery Powered Optical Guide BOM ID Part # Description BGS068 Perpendicular Dovetail Mount JV024 Line Laser, Battery Powered, Class 1 CXS082 Optical Guide Clamp Fig.

  • Page 143: Cases

    10.13. Cases BOM ID Part # Description DNA010 SKOOT Crawler Case CXA023 Umbilical / Probe Holder Frame Case CMA016 Motorized Pump / Umbilical Case EA421 Umbilical Case Fig. 265 - Cases PAGE 134 of 137...

  • Page 144: Disposal

    In accordance with European Directive on Waste Electrical and 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. DN0047 Rev 08.1...

  • Page 145: 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 146 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. © 2015 - 2020 Jireh Industries Ltd. DN0047 Rev 08.1 PAGE 137 of 137...
  • Page 147 Jireh Industries Ltd. 53158 Range Road 224 Ardrossan, Alberta Canada T8E 2K4 780-922-4534 jireh.com...

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