ROC-D/FRCS
ROC RCS - COURSE BINDER
Content
Subj ect
Page
Com ponent location
1-14
Levers and buttons
15-28
F-m enus
29-32
M enu system
33-38
M enu logging
39-44
M enu positioning
45-48
M enu drilling
49-62
Sm artRig rock drill control system
63-78
M enu rig
79-92
Inclination system
93-106
Drillplan
107-112
M enu RHS
113-118
Auto RHS
119-122
Sem i auto positioning
123-128
Laserplane
129-130
Statistic and logging
131-134
Winch
135-138
Component location Right side
4
Left side
4
Feedbeam
4
Page 1 of 138
Page 2 of 138
Right side Y224 Y114 Y215 Y208A Y208B Y209 B352
A542 /ERROR
Cabin A60 B142
Y250 A21 Y187 D510 A31 D101
Y103 B133 Y100
Y104A Y104B Y121B Y101A Y102A Y102B Y103 B133
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Y424A Y424B Y425A Y425B Y426A Y426B
Y473
D170
2
2
Left side Y206A Y206B Y207A Y207B
S146
Y419A Y419B Y420A Y420B Y410A Y410B B132
ECM B360 B365
D511 H185
M20
Y251C Y251B Y251A Y253
D512
S500
Y107 Y106
A1 M1 B188
D530 A20 S18
B366
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Y112A S300 Y112B
Y210 Y115 Y116 3
3
Feedbeam B316
B172
D171 B127
H323 D102
H322
Y300 Y301A Y303A Y416A Y421A Y405A Y357A Y361B Y350B
B118 B120
B182 B183
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B122
Page 6 of 138
Component location Exercise
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Page 8 of 138
Component location
Page 9 of 138
Component location
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Component location
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Component location - Which functions functions are powered powered by hydrau hydraulic lic pump pump 1?
- Which functions functions are powered powered by hydrau hydraulic lic pump pump 2?
- How many many emerg emergenc ency y stops stops are there there on the the rig?
- Where are the the emerg emergency ency sto stops ps locat located? ed?
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Component location When the rig rig is in ”Auto” ”Auto” mode, a light light is flashing. flashing. W here is is the light light located? (Mark (Ma rk with with an “X” on the the picture) picture)
ROC
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Levers, buttons and display Dieselpanel
4
Display
4
Levers
4
Diesel panel
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1
Display
Buttons for all direct menus.
Contrast buttons
Menu navigation buttons
Display (escape)
Escape
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2
Display (arrow buttons)
Display (enter)
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3
Right pod •Boom lever •Press button
Left pod •Feed lever •Press button
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4
Buttons on left pod 1/2 1. Reduced water (option) 2. Full water (option) 3. Oil heating 4. Low speed tramming 5. High speed tramming 6. Signal horn 7. DCT suction on 8. Remote control box on 9. Reduced flushing 10. Support leg up 11. Full flushing 12. Support leg down 13. Flushing only
Buttons on left pod 2/2
•Diesel rpm -Between 1500 and 2000rpm F9C -Between 1500 and 2300 D7C • Left track oscillation (front up) • •
Left track oscillation (Rear up) Track oscillation locked / open
•Diesel rpm CAT idling (1200 rpm) •Right track oscillation (front up) • Right track oscillation (rear up)
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5
Levers on left pod 1/2
•Left joystick Rod handling •Press button
Levers on left pod 1/2
•Right joystick drill steel support and suction hood •Press button
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6
Buttons on right panel 21 Compressor on 30 Drilling mode activated 32 Take up drill string 33 Automatic rod handling (option) 34 Semi Automatic feed alignment (option) 22 Automatic thread greasing (option) 31 Manual thread greasing (option) 21-28 Buttons for display control 29 Toggle button for direct menus
Right panel drill lever
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7
Tramming levers
•Left lever •Right lever
•Chair heater control (option)
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8
Levers and buttons Exercise
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Levers and buttons
Operating panels The operatingpanels consists of two modules which have buttons and levers two control the functions on the rig. The levers are proportional to the function. That basically means that the lever will activate the function as much or as little as you pull/push the lever (If the lever is correctly calibrated). The buttons have a LED indicator that indicates if the function is active or not. If the LED is lit the function is active.
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Levers and buttons
Button functions
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Levers and buttons
Button functions
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F-Menus 4Menu
F1
4Menu
F2
4Menu
F3
4Menu
F4
4Menu
F5
Display - Direct menu F1
2
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1
Display - Direct menu F2
3
Display - Direct menu F3
4
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2
Performance log
Display - Direct menu F4
6
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3
Display - Direct menu F5
7
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4
System
Menu - System
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1
Menu - Diagnostic
Modules
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2
Modules – View modes
Menu modules
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3
Menu - Levers
Menu – Levers calibration
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4
Menu - Guards
Administration
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5
Menu - Engine status
Menu – Service interval
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6
Logging
Menu - Logging
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1
Menu - Logging
Menu - Event Log
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2
Menu - Save
Menu - Save
Log •Statistics •Blast Log •Performance log
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View Excel, notepad ROC Manager ROC Manager
3
Statistics
Menu - MWD
Log •MWD
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View ROC Manager
4
Principal
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5
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Positioning 4Sensors 4Actuations 4Parameters
Positioning
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1
Sensors
Calibration
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2
Actuations
Parameters
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3
Auto parameters
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4
RCS software - Drilling 4Sensors 4Actuactions 4Parameters 4DCT
RCS Software – Drilling menu
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1
RCS Software – Drilling menu
RCS Software – Drilling menu
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2
RCS Software – Drilling menu
RCS Software – Drilling menu
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3
Feed Speed and Pressure
Feed , Manual Collaring
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4
Feed , Manual Collaring (Example)
0
If set to 0
Feed , “Self hold” collaring, NO Rock contact
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5
Feed , “Self hold” collaring, rock contact
Full speed drilling
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6
Feed , Speed
Feed , Pressure
Collaring Full drilling
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7
Calibration
Percussion
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8
Rotation 1 (2)
40 20
60
5
55
Rotation 2 (2)
40 20
60
5
55
RPCF active
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9
Lubrication
Timers
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10
Damper 1(1)
Damper 2 (2)
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11
Others
DCT - Parameters
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12
DCT - Actuations
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13
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SmartRig Rock Drill Control System
Introduction
SmartRig Rock Drill Control System Mission
The mission of the project is to design a control system for COP rock drills on present and future rigs, with higher customer value than Strata Sense system and Rock Pilot. …..This guarantees the best possible transmission of percussion power to the rock and helps produce remarkably straight holes. In addition, it cuts down on accessory costs. Thompson remarked that with the Tamrock Rock Pilot System, he is experiencing 30 percent more steel life on the striking bars…. Source: www.tamrock.com (2004-12-28)
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1
SmartRig Rock Drill Control System Overview
Damper Pressure Control Impact (Improved) –
Improvement of today's DPCI function. The perc ussion pressure is proportionally controlled by the damper pressure
–
Increases the percuss ion pressure when the rock drill encounters section of harder rock than the surrounding
Feed Speed Controlled Impact –
The percussion press ure is reduced when the feed speed increases above normal drilling speed. This is done to reduce the risk of damaging the rock drill small cavities
–
Function reducing the perc ussion pressure and the feed speed when a ca vity is detected
Rotation Pressure Controlled Feed (Improved) –
Improved version of today’s RPCF where both the feed pres sure and the flow is controlled, giving a smoother regulation of the feeder
Mode change –
The operator can choos e between 3 different operation modes Hard Rock Mode, Medium Rock Mode and Soft Rock Mode. Each mode is optimized to suite different rock geological conditions. This gives the operator a basic adjustments of the drill rig and the right software functions for the work site
SmartRig Rock Drill Control System Mode change The drill rig operator can choose between 3 different operation modes:
Hard Rock Mode
Medium Rock Mode
Soft Rock Mode Each mode is optimized to suite different rock geological conditions. This gives the operator a basic adjustments of the drill rig and the right software functions for the work site. If the conditions quick changes or the rig is moved it is possible quickly tune the rig for it’s new environment by change mode.
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2
SmartRig Rock Drill Control System Mode change The drill rig operator can choose between 3 different operation modes:
Hard Rock Mode
Medium Rock Mode
Soft Rock Mode Each mode is optimized to suite different rock geological conditions. This gives the operator a basic adjustments of the drill rig and the right software functions for the work site. If the conditions quick changes or the rig is moved it is possible quickly tune the rig for it’s new environment by change mode.
SmartRig Rock Drill Control System Overview of functions under different mode options
Off
Hard
Medium
Soft
Porportional DPCI
X
X
X
Increase (boost) of percussion pressure
X
X
FSCI
X
X
X
X
X
DPCI
X
RPCF – Pressure controlled
X
RPCF – Pressure- and flow controlled
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X
3
SmartRig Rock Drill Control System Adjusting parameters
Mode: Off
Mode: Hard, Medium, Soft
SmartRig Rock Drill Control System Display
Manometer before
Manometer now
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4
SmartRig Rock Drill Control System Icons
SmartRig Rock Drill Control System Damper Pressure Controlled Impact Dangerous to have drilling pressure with low or no contact with the rock
Percussion pressure Percussion, Drilling
Percussion, Collaring
Damper pressure
Drilling percussion Collaring percussion
DPCI before
Time
Page 67 of 138
Time
DPCI now
5
SmartRig Rock Drill Control System Damper Pressure Controlled Impact
Percussion pressure Percussion, Drilling
Percussion, Collaring
Damper pressure
Drilling percussion Collaring percussion
DPCI before
Time
Time
DPCI now
SmartRig Rock Drill Control System Measurements DPCI Datafil: test-009.mat
Datafil: test-009.mat
40 200 38
190 ] r a b [ e r u s s e r p n o i s s u c r e P
180
] r 36 a b [ e r u s 34 s e r p d e e F 32
170 160 150 140
30
130 140
145
150 Time [s]
155
28
160
140
Datafil: test-009.mat
145
150 Time [s]
155
160
155
160
Datafil: test-009.mat
70
2.6 2.4
65
2.2 ] n i m / m [ e t a r n o i t a r t e n e P
] r a b [ e r 60 u s s e r p r e 55 p m a D 50
2 1.8 1.6 1.4 1.2 1 0.8
45
140
145
150 Time [s]
155
160
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140
145
150 Time [s]
6
SmartRig Rock Drill Control System Comparison between a system with and without DPCI Percussion pressure Super Percussion Percussion, Drilling
Time
Time
Damper pressure
Limit incr perc Drilling percussion
Time
Before
Time
Now
SmartRig Rock Drill Control System Comparison between a system with and without DPCI Percussion pressure Super Percussion Percussion, Drilling
Time
Time
Damper pressure
Limit incr perc Drilling percussion
Time
Before
Time
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Now
7
SmartRig Rock Drill Control System Measurements DPCI – pressure boost Datafil: test-021.mat
Datafil: te st-021.mat
65
220 215 ] r a b [ e r u s s e r p n o i s s u c r e P
60
210 ] r 55 a b [ e r u s 50 s e r p d e e F 45
205 200 195 190
40 185 30
40
50
60 Time [s]
70
80
90
35
100
30
40
Datafil: test-021.mat
60 Time [s]
70
80
90
100
80
90
100
Datafil: te st-021.mat
95
50
90
48
85
] r a b [ e r u s s e r p n o i t a t o R
] r a b 80 [ e r u s s 75 e r p r e p 70 m a D 65
46
44
42
40
38
60 55
50
30
40
50
60 Time [s]
70
80
90
100
36
30
40
50
60 Time [s]
70
SmartRig Rock Drill Control System Damper Pressure Controlled Impact
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8
SmartRig Rock Drill Control System Damper Pressure Controlled Impact DPCI quiz 1. What are the parameters that control the percussion pressure?
2. What would happen if Damper pressure low percussion and Damper pressure high percussion are set to be the same?
3. When and why is the percussion boost used?
4. Can percussion boost be started when ONLY damper pressure has reached level Damper pressure, boost ?
SmartRig Rock Drill Control System Feed Speed Controlled Impact Percussion/Feed pressure
Before
FSCI
Percussion/Feed pressure, Drilling
Percussion/Feed pressure, Collaring
Time
Time
Feed Speed Upper limit
Limit reduce percussion Normal drilling speed
Time Time
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9
SmartRig Rock Drill Control System Feed Speed Controlled Impact Before
Percussion/Feed pressure
FSCI
Percussion/Feed pressure, Drilling
Percussion/Feed pressure, Collaring
Time
Time
Feed Speed Upper limit
Limit reduce percussion Normal drilling speed
Time Time
SmartRig Rock Drill Control System Measurements FSCI Datafil: test-039.mat
Datafil: test-039.mat
50
200 190
45
180 ] r a b [ e 170 r u s s e r p 160 n o i s s 150 u c r e P 140
40 ] r a b [ e r 35 u s s e r p 30 d e e F 25
130
20
120 40
45
50 Time [s]
55
60
65
15
40
45
Datafil: test-039.mat
4
70
3.5
65 ] r a b [ 60 e r u s s 55 e r p r e p 50 m a D 45
3 ] n i m / 2.5 m [ e t a r 2 n o i t a r t 1.5 e n e P 1
40
0.5
40
45
50 Time [s]
55
60
65
60
65
Datafil: test-039.mat
75
35
50 55 Time [s]
60
65
0
Page 72 of 138
40
45
50 55 Time [s]
10
SmartRig Rock Drill Control System Cavity Detection System - Simba
SmartRig Rock Drill Control System Cavity Detection System - Simba
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11
SmartRig Rock Drill Control System FSCI – all functions Percussion pressure
Percussion pressure, drilling
Percussion pressure,collaring
Feed pressure Feed pressure, drilling
Feed pressure, collaring
Penetration rate Penetration rate, low percussion
1-2 FSCI 3-5 FSCI with cavity detection
Penetration rate, high percussion
1
23
4
5
Time
SmartRig Rock Drill Control System Feed Speed Controlled Percussion
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12
SmartRig Rock Drill Control System Feed Speed Controlled Percussion FSCI quiz 1. When does FSCI function first start to work in Hard rock mode? i.e. when the feed speed is getting faster or slower?
2. Describe the situation when Feed speed, cavity is used during drilling.
3. What are the conditions for the percussion to go from collaring level back to full drilling (so called “normal” drilling in the system description) after cavity detection?
SmartRig Rock Drill Control System Rotation Pressure Controlled Feed Improved version Feed pressure
Limit for antijam Limit for antijam
Pressure drilling
Feed pressure collaring
Rotation pressure
Rotation pressure
Feed pressure back
Flow
Feed flow drilling
Rotation pressure
Before
Rotation pressure
Now
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13
SmartRig Rock Drill Control System Rotation Pressure Controlled Feed Improved version Feed pressure
Limit for antijam Limit for antijam
Pressure drilling
Feed pressure collaring
Rotation pressure
Rotation pressure
Feed pressure back
Flow
Feed flow drilling
Flow reduction Flow direction change
Rotation pressure
Before
Rotation pressure
Now
SmartRig Rock Drill Control System Rotation Pressure Controlled Feed Improved version
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14
SmartRig Rock Drill Control System Rotation Pressure Controlled Feed Improved version RPCF quiz 1. What are the biggest differences between RPCF before & now?
2. When does the transition from pressure control to flow control take place?
3. What will happen to the rock drill when feed flow is reduced?
SmartRig Rock Drill Control System Mode change Hard Rock Mode
Medium Rock Mode
Soft Rock Mode
X
X X
Rotation Pressure Controlled Feed
Damper Pressure Control Percussion
X
X
Hard Rock Controlled Percussion
X
X
Mode change
X
X
X
Feed Speed Controlled Percussion
X
X
X
Cavity Detection System
X
X
X
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15
SmartRig Rock Drill Control System Final quiz 1. Why Hard rock mode only uses pressure regulation during RPCF?
2. Why boost function to Soft rock mode does not exist?
3. What is the meaning with the green & yellow sections?
4. Why is the new RPCF function already activated during collaring?
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16
Rig Menu diesel
4
Tramming
4
Chassie
4
ROC D7
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Page 80 of 138
Menu Rig
Page 81 of 138
Menu Sensors
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Menu Power Pack
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Menu Power Pack (Calibration)
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Menu Wagon Frame
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Menu Wagon Frame (Calibration)
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Menu Actuations
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Menu Actuations - Power Pack
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Menu Actuations - Wagon Frame
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Menu Actuations - Winch
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Menu Parameters
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Inclination instrument Menu F4
4
Inclination system principals
4
Sensors
4
Calibration
4
9
0
1
8
9 2
7
6 5 4
3
0
1
8
9 2
7
6
5
4
3
0
1
8
2
7
6 5 4
3
Inclination system Menu Angle indication
4
30.0°
40.0°
Side angle
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Hole angle
1
Inclination system Menu
3
Inclination system Principals
4
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2
Inclination system Settings 1
5
Inclination system Sight Sight used to set the feed into blasting direction.
6
Page 95 of 138
3
RCS Boom angle sensor End-plug
Adress X1
Set to 2
Adress x10 Set to 0 Rate: kB/s
Set to 3 = 125kB/s
RCS Feed angle sensor End-plug
Adress X1
Set to 1
Adress x10 Set to 0 Rate: kB/s
Set to 3 = 125kB/s
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4
Calibrate boom swing sensor
9
Calibrate aiming device
10
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5
Calibrate feed dump
11
Calibrate feed swing
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6
Inclination sensor Exercise
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1
Page 100 of 138
Sensors
9
0
6
5
9
1
8 7
4
2
8
3
7
6
0
5
9
1
4
2
8
3
7
0
1 2
6
5
4
3
Connect the sensors name with its function. D170
Boom swing
D171
Feed swing
S146
Encoder
D171
Depth sensor
D172:1
Aim
D172:2
Feed dump
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2
Calibration
0°
Sensors usually only requires calibration when replaced. Feed Set the feed vertical and measure with a water vertical instrument it so that you know that the feed´s angle is 0°. The feed´s angle is now zero and therefore you can now push the “calibrate” button for Feed dump and feed swing in the menu.
Page 102 of 138
3
Calibration
Aim Turn the sight so it points straight forward, then use a 90°angle instrument to measure against the front window of the cabin, and by that establish that the sight is zero. Push the “Calibrate” button, the sight is then calibrated.
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4
Calibration
Measure the distance between two points on the side on the cabin and to the boom attachment.
Boom Set the boom as centered as possible, then measure with a measuring tape the space between the cabin and the inner and outer boom attachment. The space between the inner and outer boom attachment should be the same, in that way you can determine that the boom is centered and then push the “Calibrate” button for boom swing.
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5
Inclination
In which menu do I activate the laser plane function? ______________________________________________ What does the symbol mean?
_____________________________
_____________________________
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6
Inclination
Discuss
•When do I need to calibrate the sensors for the inclination system?
•What will happen if the sensors are not calibrated?
•Is it possible to save the parameters after calibrating?
•Hole depth measuring is not working, how could the trouble shooting look like?
•Hole depth measuring is measuring the first rod but not the second. What could the be problem?
•Bit position is working but not hole depth measuring. What could be the problem?
•How could the trouble shooting procedure look like on D171?
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7
Drillplan Drillplan
4
Drillplan action
4
Hole action
4
1 4
2
5
3
6
Drillplan
2
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1
Drillplan action
Drillplan action - Load drillplan
4
Page 108 of 138
2
Drillplan action - Create drillplan
5
Drillplan action - Save drillplan
6
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3
Hole action
Hole action - Add hole
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4
Hole action - Delete
Hole action - Move
10
Page 111 of 138
5
Hole action - Edit
11
Page 112 of 138
6
RHS Sensors
4
Actuations
4
Parameters
4
Cradle positions
4
Menu - RHS
2
Page 113 of 138
1
Menu – RHS/Sensors
3
RHS Sensors
B182 - Stop pos magasine rotation CCW B183 - Stop pos magasine rotation CW
B118 - Arm in drill centre B120 - Arm in magasine
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2
Menu – RHS/Actuations
5
Menu – RHS/Parameters
6
Page 115 of 138
3
Threading
Menu – RHS/Cradle positions
8
Page 116 of 138
4
Reset length sensor
Cradle positions M1 – Drill stop
M2 – Open upper drill steel support
M3- Rapid feed stop forward
M4 – Rod in position drill steel support
M5 – Rod in position carousel
M6 – Rapid feed stop backwards
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5
Page 118 of 138
Automatic Rod Handling System
Automatic Rod Handling System
• Pressbutton for activating auto rod handling •This function can only be activated when the rig is in full drilli ng mode
2
Page 119 of 138
1
Automatic Rod Handling System
•Auto rod handling: When activating the automatic rod handling system, the field in the information bar will light up in green.
3
Automatic Rod Handling System– Feed Speed
4
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2
Automatic Rod Handling System – Feed pressure
5
Automatic Rod Handling System - Timers
6
Page 121 of 138
3
Automatic Rod Handling System - Others
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4
Semi Automatic Positioning
Boom control •Boom lever: Left lever used to move the boom in following positions: •Left / right •Down / Up Pressbutton: •Boom extension in /out
2
Page 123 of 138
1
Boom control •Feed lever: Right lever used to move the feed in following positions: •Left / right •Forward / Backward Pressbutton: •Feed extension up /down
3
Semi auto positioning •Press button for activating auto positioning. This button is only active when the rig is in drilling mode. The function works also when you move the boom lever. •Note: The feed position lever is out of function when pressbutton is activated.
4
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2
Semi auto positioning
Valve parameters
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3
Actuations
Sensors
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4
Semi Auto positioning
9
Semi Auto positioning
10
Page 127 of 138
5
Page 128 of 138
Laser plane
Laser plane
2
Page 129 of 138
1
Sensors
3
Laser plane When using the laser plane the measuring on the display will adjust automatically to the install setting in the meny.
Laser plane
4
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2
Statistic & logging
RCS software Statistics & logging
Page 131 of 138
1
RCS software
RCS software
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2
RCS software
RCS software
Page 133 of 138
3
Page 134 of 138
Winch
Winch
2
Page 135 of 138
1
Remote Controle
•Remote control box on
Winch
Activate remote control box
Control light for Cabin / Remote control box
Page 136 of 138
2
Winch
Tramming levers left / right
Control diods for programming Boom up / down
Signal horn
Oscillation left / right
Boom swing left / right
Support leg up / down
Winch
Activating winch or tramming low / high speed
Variable winch force
Page 137 of 138
Manual winch force
3
