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1. PA Figure 19 Spare Parts Tri Pod User Guide Page 21 of 21 AA0277 REV 032. Scrolls up and down in the setting list Last menu item is always exit to Main Menu Right Pushbutton click Selects displayed item for editing See Setting Edit Mode below Right Pushbutton hold Exits to Main Menu User Settings No Description Min Max Default O Auto Home When set the system automatically homes on power up If not set the system will prompt for operator input before homing 1 Idle Timeout s The time in seconds before the system will enter the idle sleep mode 32 67 30 2 Units O in 1 mm Switches between imperial and metric units Auto Dist 1000 in Not Currently Active 999999999 12 Scan Speed of Max Sets scan speed as a percentage of the maximum crawler speed Typically used for setting a slow speed for scanning while driving 100 10 5 Scan Steer of Max Limits the steering angle as a percentage of the maximum steering angle 90deg Typically used to reduce the sensitivity of the steering when scanning or visually tracking a line 100 6 Video Light Sets the brightness of the video camera lighting system 36 7 Display Type Sets the display order of the middle two lines of the display 3 1 3 Setting Edit Mode When a setting has been selected for editing the number enclosed within the character and a blinking cursor is displayed to indicate
3. 3 4 Operating A DANGER FALLING OBJECT ELECTRICAL SHOCK HAZARD Do NOT stand on or place objects on the Umbilical Cable Ensure the Umbilical Cable is free to uncoil without snagging anything as the crawler moves upwards A DANGER FALLING OBJECT ELECTRICAL SHOCK HAZARD Do NOT drive over the umbilical cable with the crawler PAY ATTENTION as the crawler drives to avoid this hazard On startup the system enters manual drive mode This is the normal mode of operation Display Top Left Corner Current linear position as calculated from front two drive wheels Top Right Corner Current temperature within the main crawler enclosure Middle Right Corner Optional idler wheel encoder position Controls Left Joystick Moves the scanner forward and reverse at a speed proportional to joystick movement When released the crawler will maintain it s current position without operator input Right Joystick Steers crawler proportionally left or right When fully left or fully right the crawler will pivot around the probe Left pushbutton click Raises and lowers the probe Right pushbutton click Exits manual drive mode and enters the Main Menu Left pushbutton hold Allows the current crawler position to be reset to zero Right pushbutton hold Toggles drive speed from rapid to scan speed See User Settings High Temperature Shutdown Internal temperature of the crawler is monitored at all
4. s must stay at least 2m 79 away A WARNING ELECTRICAL corps 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 A WARNING power must BE DISCONNECTED Ensure that the power supply is disconnected from the power source when connecting components If powered a spark could occur resulting in explosion and or fire Power Supply to Umbilical The power supply is to be connected to a 85 264VAC 45 65Hz 5A power source using the standard three prong plug The umbilical is connected to the receptacle located on top of the power supply via the twelve pin bayonet connector see Fig 8 Output of the power supply is 24VDC 20A Figure 8 P S to Umbilical Crawler to Umbilical Power and control signals are supplied to the crawler by connecting the 19 pin military style plug connector to the corresponding receptacle on the umbilical Secure this connection by threading the outer ring on the umbilical side to the connector on the crawler 1 quick connect hose and 4 BNC connectors coming from the umbilical are also to be connected to the Tri Pod The BNC jacks located on the rear bulkhead are stamped Y W R G Figure 9 Crawler Connected These correspond to the colored cables of the umbilical Y is yellow etc A Figure 10 Hose amp
5. BNC Connectors Tri Pod User Guide Page 7 of 21 AA0277 REV 03 Controller to Umbilical The controller is connected via a control cable with a six pin quick connector on each end One end is to be connected to the plug on the top of the controller see Fig 11 while the other end is connected to the plug on the umbilical labeled CTRL see Fig 12 Both ends of the control cable are identical therefore either end can be connected to either component Standard length for the control cable is 20ft although longer lengths are available Figure 11 Hand Held Controller Umbilical Bell Explained BNC Connector extra not typically used Auxiliary Connector BNC Connector typically used for video output Fluid Hose Auxiliary Connector Encoder Output Control BNC Connectors Cable Typically used for Connector scanning probe output Figure 12 Umbilical Bell 2 4 Optional Equipment 2 4 1 Encoder Option The standard encoder provides 88 26925 pulses inch 3 4752pulses mm or 353 077counts inch 13 9007counts mm with 4x quadrature decode The output is a RS422 compatible line driver Note the type of output is factory configured and cannot be changed by the user Encoder readout can be viewed on the hand held controller or through the encoder output located on the umbilical Wiring Connections to the encoder are done through a six pin circular connector located in the umbilical end bell
6. CARE People with pacemakers or ICD s must stay at least 2m 79 away 4 2 Maintenance Schedule The Tri Pod system must be maintained according to the following schedule MAINTENANCE ITEM FREQUENCY Inspect Safety Apparatus This includes All components of Tether System Replace damaged components as necessary Lifting Sling on crawler If the Lifting Sling shows signs of damage i e cuts abrasion etc do NOT use Every use Clean the Drive Wheels Since the Drive Wheels are magnetic debris will build up on them This debris must be cleaned off before every use An effective cleaning method is to use adhesive backed tape i e duct tape to pull the debris off the wheels Tri Pod User Guide Page 17 of 21 AA0277 REV 03 Inspect Cables and Connectors Inspect the Umbilical Cable the Control Cable and the Power Supply Cable for damage Repair by a qualified person or replace the cable assembly as necessary Inspect all connectors for damage or moisture Straighten bent pins Dry connectors before using Every use General Cleaning Ensure that the scanner stays relatively clean by wiping off any excess dirt or other contaminants after every use Check Drive Wheel Backlash Check each Drive Wheel individually for free play by rotating back and forth by hand If the free play allows the wheel to move more than 2 teeth if you see more than 2 teeth on the Every 40 hours outer diameter of the wheel move
7. 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 i e tank attach the provided lifting sling to the Tri Pod can be done by forming a girth hitch around the front handle and then hook the tether hook to the lifting sling A IMPO RTANT 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 2 6 No Entry Fall Zone A DANG ER FALLING OBJECT HAZARD The area below an operating crawler must be kept clear at all times A clearly marked NO ENTRY ZONE must be cordoned off directly below the crawler The NO ENTRY ZONE must be a minimum of 6m 20 ft in all directions from the point below the crawler See Fig 16 Figure 16 No Entry Fall Zone Tri Pod User Guide Page 11 of 21 AA0277 REV 03 2 7 Preparation of Inspection Surface Remove build up of scale soot 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 there are no obstructions other than standard butt welds or voids in the drive path Obstructions and voids if driven into or over co
8. past a stationary point check to see that the M6x16 Screw see Fig 19 item 28 is tight If the screw is tight the crawler must be serviced Contact the manufacturer before further use see page 3 5 Troubleshooting Possible Cause Solution oo O 1 Display does not turn on Input power requirements not met Ensure input power meets requirements see 1 5 Power Requirements Controller not plugged into Umbilical Plug Controller into Umbilical Ensure connectors are dry and clean and pins in connector are not bent Umbilical Cable not properly Check Umbilical Cable connected connections at both ends Ensure connectors are dry and clean and pins in connectors are not bent Start the Tri Pod system see 3 2 System Start Up Damaged components in Controller Crawler Power Supply or cabling Damaged components in Controller Call manufacturer see page 3 doesn t home or drive Crawler Power Supply or cabling 3 Crawler does not drive and is See Possible Causes for Problem 1 See Solutions for Problem 1 unreachable crawler still unresponsive see 5 1 Retrieval of a Stranded Crawler 4 Steering wheel does not Steering assembly is dirty or Call manufacturer see page 3 home slipping seizing of steering components For technical assistance see 6 4 Technical Support Tri Pod User Guide Page 18 of 21 AA0277 REV 03 5 1 Retrieval of a Stranded Crawler DANGER FALLING
9. times during manual driving Maximum recommended internal operating temperature is 50 C If the internal temperature exceeds 50 C the system will automatically disable all motors and a warning message will be displayed Once the warning has been acknowledged operation is allowed to continue but is not recommended Permanent damage can result from operation at extremely high temperatures Tri Pod User Guide Page 16 of 21 AA0277 REV 03 3 5 Removal of Crawler from Inspected Surface A CAUTION Do NOT handle the crawler using the umbilical cable Use the provided handles To remove the crawler from the inspection surface 1 2 Place the mat on the surface 3 Back the crawler onto the mat Umbilical end moving onto the mat first Do not drive forward Move the probe to the lifted position 4 5 Pull the crawler off of the mat Remove the mat 4 Maintenance 4 1 Safety Precautions before Maintenance AA WARNI NG ELECTRICAL SHOCK HAZARD Disconnect the Power Supply when servicing the equipment The Power Supply Box is powered even when the E Stop Pushbutton is latched in off position A WARNING MAGNETIC MATERIAL The wheels on 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 Tools magnets and metal objects can cut pinch or entrap hands and fingers HANDLE WITH
10. ITH CARE People with pacemakers or ICD s must stay at least 2m 79 away 6 1 Drive Wheel Removal Installation NOTE Remove install one Drive Wheel 17 at a time Keep the wheels at least 2m 6ft apart to keep them from slamming into each other BEWARE of all ferrous magnetic metal objects or surfaces in your work area tools tool boxes workbenches cabinets etc and keep the wheels away NOTE To help identify the parts described below refer to Figure 9 see section 7 Spare Parts To remove the Drive Wheels 1 Obtain prepare two containers suitable for holding one Drive Wheel 27 each The containers must be non ferrous non magnetic have an effective wall thickness of 5cm 2 on all six sides For example a wooden box lined on all sides including the lid with 5cm 2 thick rigid foam 2 Remove the M6x16 Screw 28 that retains the rear Drive Wheel 27 3 Have a helper firmly hold the crawler With a firm grip on the wheel VERY CAREFULLY Tri Pod User Guide Page 19 of 21 AA0277 REV 03 slide the Drive Wheel 27 off its axle 4 Place the loose Drive Wheel 27 in the first container and securely close the lid 5 Repeat these steps for the second drive wheel To install the Drive Wheels 1 Slide the Drive Wheel 27 onto its axle Rotate the wheel until the drive dogs fully engage 2 Insert and tighten the M6x16 Screw 28 to 8 Nm 75 in lbs 6 2 Technical Support For technical support c
11. OBJECT HAZARD The tether system must remain active while retrieving the crawler i e a mechanism or person must be continuously taking up slack in the tether Should the Tri Pod crawler become inoperative while out of reach and after the solutions to the problems described in the troubleshooting chart are proven ineffective see 5 Troubleshooting it may be necessary to retrieve the crawler manually To do so 1 Press the E Stop Pushbutton to turn off power to crawler NOTE Under normal conditions the crawler should start descending slowly 2 If the crawler stops descending possibly from running into a standard butt weld bead VERY CAREFULLY and smoothly pull downwards on the umbilical to overcome the obstacle NOTE FALLING OBJECT HAZARD It is CRUCIAL that the tether system remains active while retrieving the crawler i e a mechanism or person must be continuously taking up slack in the tether 6 Service and Repair A WARNING ELECTRICAL SHOCK HAZARD Disconnect the Power Supply when servicing the equipment The Power Supply Box is powered even when the E Stop Pushbutton is latched in off position A WARNING MAGNETIC MATERIAL The wheels on 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 Tools magnets and metal objects can cut pinch or entrap hands and fingers HANDLE W
12. Tri Pod User Guide Page 8 of 21 AA0277 REV 03 Pin RS422 Line Driver Enc B Enc B Enc A Enc A Common DOD lt lt O0 Bb OIN 2 4 2 Video Camera Option The integrated video option includes an industrially rugged sealed colour solid state wide angle video camera complete with adjustable LED lighting Mounting Mount the camera to the Tripod using the provided quick connect STIX components see Fig 19 items 3 4 5 Connection Connect the camera connector to the back of the camera Connect the power connector to the connector in the front of the Tripod Ensure the green flying lead BNC connector in the umbilical is connected to the BNC connector labeled G on the Figure 13 Camera Mounted Tri Pod see 2 3 connecting the components Connect the BNC to RCA adapter to the Green connection on the umbilical see Fig 12 Connect the RCA cable to the adapter Connect the RCA cable to a suitable display or converter Output from the camera is standard NTSC video which is compatible with standard line input video devices such as televisions video recorders etc Light Brightness Adjustment Adjustment of the video light brightness is done through the User Settings 36 levels of brightness are available For further information see the User Settings section of this manual Video Converter For ease of use a USB converter is normally E provi
13. User Guide Magnetic Remote Transport Vehicle JIREH design create innovate USTRIES KEEP THIS MANUAL DO NOT LOSE THIS MANUAL IS PART OF THE TRI POD SYSTEM AND MUST BE KEPT FOR THE LIFE OF THE PRODUCT PASS ON TO SUBSEQUENT OWNERS Ensure any amendments are incorporated with this document SAFETY WARNINGS PRECAUTIONS DANG ER The Tri Pod is designed for a specific use Using the Tri Pod outside of its intended use is dangerous Severe injury or death could result Read and understand this manual before using DANGER FALLING OBJECT HAZARD Failure to comply with the warnings instructions and specifications in this manual could result in SEVERE INJURY or DEATH DANGER FALLING OBJECT HAZARD The area below an operating crawler must be kept clear at all times A clearly marked NO ENTRY ZONE must be cordoned off directly below the crawler The NO ENTRY ZONE must be a minimum of 6m 20 ft in all directions from the point below the crawler DANGER Do NOT operate or place crawler on a surface higher than 2m 6 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 i e tank ZA WARNING MAGNETIC MATERIAL The wheels on 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
14. button when prompted If the normal system start up fails with a joystick problem recalibrating the joysticks may solve the problem Left amp Right Pushbutton Hold On Power up Holding both the right and left pushbuttons on power up will force the current position of the rear steering wheel to become the new straight driving position If the crawler does not track straight ahead when no steering is being applied re aligning the steering wheel may be done using this start up option 3 3 Placement of Crawler on Inspection Surface A IMPO RTANT To place the crawler on the surface to be inspected use the flux breaker mat see Fig 6 as a spacer between the wheels and the surface on which the crawler is to drive This is necessary to protect the electronic components within the crawler from damaging shock should the crawler be slammed directly onto the surface A CAUTION Do NOT handle the crawler using the umbilical cable Use the provided handles Tri Pod User Guide Page 15 of 21 AA0277 REV 03 To place the crawler on the inspection surface 1 Connect the crawler to the electrical system and turn on the power The crawler will home and enter the Manual Drive mode 2 Place the mat on the surface 3 Place the crawler on the mat with the umbilical connection down Ensure that the drive wheels are flat on the mat 4 Back the crawler down off of the mat Do not drive forward Figure 18 Placement 5 Remove the mat
15. ded with the Camera Option to view the camera output on a standard computer or Laptop For further information see the instructions and software included with the converter If further support is El necessary please contact the converter manufacturer Figure 14 Video Converter Tri Pod User Guide Page 9 of 21 AA0277 REV 03 2 4 3 Probe Lift Option Installing the Probe To install the probe not included in the holder loosen the clamp screw see Fig 19 item 21 and the clamp mount screw adjacent to it to allow the clamp to open up Slide the probe in through the hole and set the height appropriately Tighten the clamp screw and clamp mount screw Note different sizes of probe holders are available Lifting Lowering the Probe The probe lift actuator is controlled by the A push button on the controller see Fig 17 This button will both lower and raise the probe accordingly Connecting the Probe Connect the probe not included by threading the yellow and red connector leads onto the top of the probe The outputs of these leads are located on the umbilical see Fig 12 2 4 4 Pump System Option Figure 15 Probe connection The pump system is used to feed couplant fluid through the umbilical to the probe on the crawler Note Do not assume fluid compatibility Check with pump manufacturer to ensure the fluid to be pumped is suitable for this particular pump E g do not use windshield washer
16. electronics Tools magnets and metal objects can cut pinch or entrap hands and fingers HANDLE WITH CARE People with pacemakers or ICD s must stay at least 2m 79 away AA CAUTION MAGNETIC MATERIAL Due to magnetic material consult IATA documentation before air shipping AA A WARNING Damage to the crawler and or cables during or prior to use may cause explosion or fire Tri Pod User Guide Page 2 of 21 AA0277 REV 03 Table of Contents 1 Ti Pod Specifications aia 4 1 1 Intended Use 4 1 2 Intended User 4 1 3 Dimensions and Weight 4 1 4 Performance Specifications 5 1 5 Power Requirements 5 1 6 Operating Environment 5 1 7 Unintended Use 5 2 Preparation JOP USC ln AE ON A ooo 6 2 1 Transportation 6 2 2 Tri Pod Components 6 2 3 Connecting the components 7 2 4 Optional Equipment 8 2 4 1 Encoder Optinio enaa E rte pe ater ene re EC Pe oe re ae 8 2 4 2 Video Camera Ota Mas A as 9 2 4 3 Probe Lift ODE ON id AA 10 2 4 4 Pump System OPHON a E anios 10 2 5 Tether Requirements and Attachment 10 2 6 No Entry Fall Zone 11 2 7 Preparation of Inspection Surface 12 3 Operating Instructions cccccecicescescncccwcacseneclecaseavacecous ncencudscs ses eocaausecoynoenousessceadecpuevncedouabecneanostecees 12 3 1 Controller Layout 12 3 1 1 MIDI ada 12 ee WSO SECIS sek be acca O 13 3 1 3 Setting EditMode osha da ba asic eure a vo base taco Ro 13 3 1 4 DISENO UE MOE ruina ERIN Net ae er De een AAA ere ere ee 14 3 2 System S
17. fluid it is very corrosive and may void the manufacturer s warranty Connecting the Pump System To connect the pump system to the Tri Pod simply connect the hose from the pump to the fluid hose connector on the umbilical The pump system is required to be plugged into a GFCI 120VAC 60Hz power source 2 5 Tether Requirements and Attachment DANGER FALLING OBJECT HAZARD Failure to comply with the warnings instructions and specifications below could result in SEVERE INJURY or DEATH DANG ER Do NOT operate or place crawler on the surface that is higher than 2m 6 without a proper tether held taut at all times Tri Pod User Guide Page 10 of 21 AA0277 REV 03 DAN G E R Hook the tether hook to the provided lifting sling BEFORE placing the crawler on the surface to be inspected i e tank During use at a height greater than 2m 6 the Tri Pod crawler MUST be tethered with a proper tether system to prevent the crawler from falling E s The tether system must A Fa A be capable of safely suspending the crawler from above in case the crawler detaches from the inspection surface A CAUTION The overhead attachment point for the tether must be located as close as possible to directly above the crawler to minimize dangerous swinging of the crawler should it detach from the inspection surface have sufficient capacity to catch and hold a 70 kg 150 Ib load include a mechanism or person to
18. ft Joystick Scrolls up and down in the setting list Last menu item is always exit to Main Menu Right Pushbutton click Depends on current item being displayed See diagnostic item list Right Pushbutton hold Exits to Main Menu 3 2 System Start up To start the system follow these steps 1 Plug in the Power Supply to the appropriate power source see 1 5 Power Requirements 2 Connect the components properly see 2 3 Connecting the components 3 Rotate the red E Stop Pushbutton clockwise to unlatch On power up the system does a series of safety checks to ensure that the operator interface contoller is in a neutral position If the joysticks are not centered the system will display an error message If the joysticks are centered the system locks the drive wheels and aligns the steering wheel in preparation for the Manual Drive mode 3 2 1 System Start Up Overrides On start up three different start up modes can be forced by applying power and simultaneously holding combinations of the two pushbuttons as follows Left Pushbutton Hold On Power up Holding the left pushbutton on power up will force the system to go directly to the Diagnostic mode of operation Right Pushbutton Hold On Power up Holding the right pushbutton on power up will force a recalibration of the joysticks Joystick calibration is performed by making sure that both joysticks are released while pressing the left push
19. ontact Jireh Industries see page 3 Tri Pod User Guide Page 20 of 21 AA0277 REV 03 7 Spare Parts x O O d Dla O 0 Z N oO x EIS 9 e SE E fad 2 5 2153 Sa 3 2l 0 3 515 l Fle ls 5 Flu Y i Dla lt W a a rm ul gt u z Xx Oo Kiol dul xju ela eee oc u xol z S lOlv xjulol lo e A a O oo uo oll lO 0 0 6 0 S b Slal E 2 212 E IS18 E 2 njona OO 1 0 9 e o ee E la la a X lt lelz le e o E Pelee Lio Elgla D lt ElS El lt I I lt o T E 5 ElO ElElT 5lm ElEl Elo E zg ola Ela tlelaule ele lclalulol SCS Slula Sl 2 alas Ole o juliol No Suiza al Lila ic IA a lt aj S uiriyja da slolsasess dotes ls lelale els sis iolelalels ca Zz ojo spjajo o x ja 2 O u p aja x gt j o gt 2 2 gt 2 0 2 o 2 O 2 O N o Oo oO o N O N o LO xr 5 y 3 S 8 5 518 8 5 8 5 8 Wwlo 1 YX O 2 Ee a T R TInIinN aA lolo l ila il ill et wo St im mio 2 Sir OlKlol e ojHloleole H Sl SP H SiFl l sjSlalSHlsia rixclola Ella So Slolalolo alalo ZA AIAI AIZINA IEIZ AI AA IB Rio laa X z S e on Nn Ain S N Slolololsiolo ollo 22 lo e lo e Q n Sla 2 lt IX Ll lO O0 OIX Q IX AO L IIX Q Q q aQ a a Q OQ Q a 22 slala a g s ls 4 312 9 4 4 5 4 5 5 5 4 5 4 55 3 i JE a ajojs ojo rjolo S ajejz ele 22258 R 38 8 5 8 8 8
20. r Cable Length 100 ft Travel Speed 0 18 m min 0 60 ft min attachments and umbilical are considered part of payload contact Jireh Industries for custom cable lengths 1 5 Power Requirements A WARNING A reliable power source must be used for powering the crawler Connections must be secured to prevent accidental disconnection Power failure may cause the crawler to freewheel down Portable generator usage is not recommended unless accompanied by the use of an uninterruptible power supply system A WARNING Proper grounding of the power supply is important for safe operation Ifa generator is being used to supply power to the system not recommended the generator must be properly grounded see the generator manual Power Requirements 85 264VAC 45 65Hz 5 Amps NOTE The Tri Pod power supply automatically adjusts to the supplied voltage 1 6 Operating Environment The Tri Pod is designed for use in an industrial environment that is dry or damp the crawler its self is rated to IP67 between 20 C and 50 C free of explosion or fire hazards 1 7 Unintended Use A DANGER ratuine OBJECT HAZARD Using the Tri Pod outside of its intended use is dangerous Severe injury or death could result Do NOT use the Tri Pod as listed below Tri Pod User Guide Page 5 of 21 AA0277 REV 03 The Tri Pod is NOT intended for operation on surfaces that are not clean e g excess rust scale ferrous deb
21. ris ice frost lifting lowering objects or people l e using the crawler as a crane elevator driving into obstructions operating in ambient temperatures below 20 C or above 50 C In addition to the above points for operating at a height greater than 2m 6 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 or at worst horizontal front of the tripod is lower than the umbilical connection 2 Preparation for Use 2 1 Transportation A CAUTION pinch CRUSH HAZARD BE CAREFUL when passing the Tri Pod 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 2 2 Tri Pod Components Figure 2 Power Supply Figure 3 Umbilical Figure 4 Controller i PU a Oaa Figure 6 Flux Breaker Mat Tri Pod User Guide Page 6 of 21 AA0277 REV 03 Figure 7 Pump system 2 3 Connecting the components A WARNI NG MAGNETIC MATERIAL The wheels on 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 Tools magnets and metal objects can cut pinch or entrap hands and fingers HANDLE WITH CARE People with pacemakers or ICD
22. tart up 15 3 2 1 System Start DIVERS A ai Aae EE ATA AAA RS A 15 3 3 Placement of Crawler on Inspection Surface 15 3 4 Operating 16 3 5 Removal of Crawler from Inspected Surface 17 4 MONTON CE iii AA AA AAA A rA AS 17 4 1 Safety Precautions before Maintenance 17 4 2 Maintenance Schedule 17 5 TFOUDIOS ADO NO iii AAA AAA AAA diia 18 5 1 Retrieval of a Stranded Crawler 19 6 Service Ana REDON corian aa nk oa ece E Mewsves ets augeuarecs a EEA E 19 6 1 Drive Wheel Removal Installation 19 6 2 Technical Support 20 7 SPE POPES orriei eon ou Ne EE OTE OEE E a 21 DISTRIBUTOR MANUFACTURER Jireh Industries Ltd 53158 Range Road 224 Ardrossan Alberta Canada T8E 2K4 Phone 780 922 4534 Fax 780 922 5766 www jireh industries com Tri Pod User Guide Page 3 of 21 AA0277 REV 03 1 Tri Pod Specifications 1 1 Intended Use The Tri Pod is a remote 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 The intended ferrous surface is to be bare metal for up side down surfaces or be coated to a thickness no greater than o 0 5mm 020 for vertical surfaces o 1mm 040 for horizontal surfaces on which the crawler is right side up be free of excess rust scale ferrous debris ice frost have aminimum thickness of 5mm 0 200 have a minimum radius of curva
23. ter Encoder Position Optional IdlerEnc Read Idler Encoder Position Optional XjoyVal Right Joystick Value YjoyVal Left Joystick Value Right click toggles menu scrolling so real values can be read SteerHomeSw Status of steering home switch 1 0n O 0ff SteerLimitSw Status of steering limit switch 1 on O off CommeErrors Count of communications errors between crawler and operator display DriveStatus Shows the status of the three motor drives as a single digit Steer Left Right 1 Commutation failure 3 Over temperature 4 Drive externally disabled 5 Short in wiring 6 Current limiting active 9 Internal supply protection mode A Shunt active B Over voltage D Under voltage E Amplifier OK F Power up reset DriveRelays Toggles drive brake relays on and off Note if the relays are ON than the brakes are OFF Care must be taken when using this as the crawler may back drive rapidly O On 1 Off LDriveCommand Applies a simple continuous torque command to the selected motor RDriveCommand SteerCommand LDriveMonitor RDriveMonitor SDriveMonitor Monitors the drive status and command value to each motor drive Status codes are as described in DriveStatus above DriveCommand Applies a simple continuous torque command to both drive motors simultaneously SoftwareVersion Shows the current software version Tri Pod User Guide Page 14 of 21 AA0277 REV 03 Controls Le
24. ture of 2m 6 for inside a tank have a minimum radius of curvature of 1m 3 for outside a tank or pipe The Tri Pod is intended to be used by trained personnel See 1 2 Intended User operate in an environment as described in 1 6 Operating Environment operate with a proper tether system See 2 5 Tether Requirements and Attachment 1 2 Intended User For operating at a height greater than 2m 6 the Tri Pod is intended to be used by two people a person who is trained in rigging and fall protection and is able to effectively apply the same safety principals to the crawler a person who is trained to control the crawler The Tri Pod is intended to be used by persons without limitations in the physical abilities of the upper and lower limbs sight hearing and anyone with a pacemaker or ICD 1 3 Dimensions and Weight Crawler Dimensions 18 x 15 5 x 7 5 Shipping Weight Crawler case 74 lbs Shipping Dimensions Crawler case 26 x 21 x 13 Shipping Dimensions Power Supply case 51 x 41 x 21cm 20 x 16 x 8 Shipping Weight Pump case 5 9 kg 24 lbs Shipping Dimensions Pump case 64 x 54 x 23 cm 25 x 21 x 9 Tri Pod User Guide Page 4 of 21 AA0277 REV 03 excluding case attachments umbilical power supply and control pendant excluding umbilical 1 4 Performance Specifications Vertical Payload 10 kg 23 Ibs Umbilical Length 150 ft Max Controlle
25. uld cause the crawler to fall Ensure 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 3 Operating Instructions 3 1 Controller Layout Displ ey Control Cable Connector Button B Right pushbutton Button A Left pushbutton Left Joystick Right Joystick Figure 17 Controller 3 1 1 Main Menu The main menu allows the operator to switch between modes of operation Four modes are currently supported To navigate to Main Menu from Manual Drive Mode press button B 1 User Settings Contains settings that an operator may normally change NO System Parameters Contains system settings that should never be changed 3 Diagnostics Allows various systems of the crawler to be individually monitored and tested 4 Manual Drive Mode The normal mode for driving operation of the crawler Controls Left Joystick Scrolls up and down the available menu selections Right Joystick Inactive in this mode Left Pushbutton click Inactive in this mode Right Pushbutton click Selects menu item Right Pushbutton hold Exits to Manual Drive mode Tri Pod User Guide Page 12 of 21 AA0277 REV 03 3 1 2 User Settings This menu contains settings that an operator may normally change Controls Left Joystick
26. which digit is currently selected to be changed Controls Left Joystick Scrolls currently selected numerical digit from 0 9 Right Joystick Moves cursor left or right to select numerical digit to change Right Pushbutton click Enters new value and exits edit mode When entered the limits of the entry are checked If the entered value is below the minimum allowed the minimum value will be set If the entered value is above the maximum allowed the maximum value will be set Right Pushbutton hold Cancels editing and restores value to previous setting Tri Pod User Guide Page 13 of 21 AA0277 REV 03 3 1 4 Diagnostic Mode A WARNING bo not USE ON INSPECTION SURFACE Do NOT use this mode when the crawler in placed on an inspection surface that is anything other than horizontal and flat A diagnostic mode allows various systems of the crawler to be individually monitored and tested Extreme care must be taken Improper use may cause system damage Name Description LdriveEnc Left Drive Wheel Encoder Feedback LdriveEnable Left Drive Wheel Amplifier Enable 1 Disable 0 Right click toggles RdriveEnc Right Drive Wheel Encoder Feedback RdriveEnable Right Drive Wheel Amplifier Enable 1 Disable 0 Right click toggles SteerEnc Steering Wheel Encoder Feedback SteerEnable Steering Wheel Amplifier Enable 1 Disable 0 Right click toggles InclinoEnc Inclinome
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