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ROC-D/FRCS

C o p y r i g h t 2 0 0 9 , A t l a s C o p c o R o c k D r i l l s A B , S w e d e n A n y u n a u t h o r i z e d u s e o r c o p y i n g o f

t h e c o n t e n t s o r a n y p a r t t h e r e o f i s p r o h i b i t e d . T h i s a p p l i e s i n p a r t i c u l a r t o t r a d e m a r k s , m o d e l

d e n o m i n a t i o n s , p a r t n u m b e r s a n d d r a w i n g s

R O C D / F R C S t r a i n e e b i n d e r , P M I N R : 9 8 5 2 9 5 8 6 0 1

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ROC RCS - COURSE BINDER

Content Subject Page

Component location 1-14

Levers and buttons 15-28

F-menus 29-32

Menu system 33-38

Menu logging 39-44

Menu positioning 45-48

Menu drilling 49-62

SmartRig rock drill control system 63-78

Menu rig 79-92

Inclination system 93-106

Drillplan 107-112

Menu RHS 113-118

Auto RHS 119-122

Semi auto positioning 123-128

Laserplane 129-130

Statistic and logging 131-134

Winch 135-138

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4Right side

4Left side

4Feedbeam

Component locationComponent location

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Right side

D170Y473

A31

D510

A542

Cabin

B352

D101

B142

Y250

A21

Y100

Y103

B133

Y104A

Y104B

Y121B

Y101A

Y102A

Y102B

Y103

B133

Y424A

Y424B

Y425A

Y425B

Y426A

Y426B

Y224

Y114

Y215

Y208A

Y208B

Y209

Y187

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Left side

D512

A1

S300

Y2

S18

A20

D511

M20

S146

D530

B366

Y112AY112B

B365B360

Y419AY419BY420AY420BY410AY410BB132

Y206AY206BY207A

Y207B

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Feedbeam

D171

Y300

Y301A

Y303A

Y416A

Y421A

Y405A

Y357A

Y361B

Y350B

B172

B316

B182

B183

B118B120

D102

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Component location

Exercise

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Component location

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Component location

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Component location

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Component location

- Which functions are powered by hydraulic pu

- Which functions are powered by hydraulic pu

- How many emergency stops are there on the

- Where are the emergency stops located?

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Component location

When the rig is in Auto mode, a light is flashing. Where is

located?(Mark with an X on the picture)

ROC

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1

4Dieselpanel

4Display

4Levers

Levers, buttons and displayLevers, buttons and display

Diesel panel

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2

Buttons for all direct

menus.

Menu navigation buttons

Contrast buttons

Display

Escape

Display (escape)

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3

Display (arrow buttons)

Display (enter)

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4

Boom lever

Press button

Right pod

Feed lever

Press button

Left pod

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5

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 flushing12. Support leg down

13. Flushing only

Buttons on left pod 1/2

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)

Buttons on left pod 2/2

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6

Left joystick Rod handling

Levers on left pod 1/2

Press button

Right joystick drill steel supportand suction hood

Levers on left pod 1/2

Press button

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7

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

Buttons on right panel

Right panel drill lever

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8

Left lever

Right lever

Chair heater control

(option)

Tramming levers

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Levers and buttons

Exercise

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Levers and buttons

Operating panels

The operatingpanels consists of two modules which h

levers two control the functions on the rig.

The levers are proportional to the function. That basic

the lever will activate the function as much or as little

the lever (If the lever is correctly calibrated).

The buttons have a LED indicator that indicates if the

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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1

F-Menus

4Menu F1

4Menu F2

4Menu F3

4Menu F4

4Menu F5

2

Display - Direct menu F1

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2

3


4


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3

Performance log

6


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4

7


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1

System

Menu - System

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2

Menu - Diagnostic

Modules

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3

Modules View modes

Menu modules

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4

Menu - Levers

Menu Levers calibration

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5

Menu - Guards

Administration

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6

Menu - Engine status

Menu Service interval

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1

Logging

Menu - Logging

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2

Menu - Logging

Menu - Event Log

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3

Menu - Save

Menu - Save

StatisticsBlast LogPerformance log

Excel, notepadROC ManagerROC Manager

Log View

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4

Statistics

Menu - MWD

MWD ROC Manager

Log View

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5

Principal

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1

Positioning4Sensors

4Actuations

4Parameters

Positioning

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2

Sensors

Calibration

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3

Actuations

Parameters

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4

Auto parameters

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1

4Sensors

4Actuactions

4Parameters

4DCT

RCS software - Drilling

RCS Software Drilling menu

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2



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3



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4

Feed Speed and Pressure

Feed , Manual Collaring

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5

Feed , Manual Collaring (Example)

0

If set to 0

Feed , Self hold collaring, NO Rockcontact

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6

Feed , Self hold collaring, rock contact

Full speed drilling

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7

Feed , Speed

Feed , Pressure

Collaring Full drilling

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8

Calibration

Percussion

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9

Rotation 1 (2)

40

20

5

60

55

Rotation 2 (2)

40

20

5

60

55

RPCF active

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10

Lubrication

Timers

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11

Damper 1(1)

Damper 2 (2)

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12

Others

DCT - Parameters

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13

DCT - Actuations

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1

SmartRig Rock Drill Control System

Introduction


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. Inaddition, 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)

Mission

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2

Damper Pressure Control Impact (Improved) Improvement of today's DPCI function. The percussion pressure is proportionally controlled by

the damper pressure

Increases the percuss ion pressure when the rock drill encounters section of harder rock thanthe 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 percussion pressure and the feed speed when a cavity is detected

Rotation Pressure Controlled Feed (Improved) Improved version of todays RPCF where both the feed pres sure and the flow is controlled,

giving a smoother regulation of the feeder

Mode change The operator can choose 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 forthe work site

SmartRig Rock Drill Control SystemOverview

The drill rig operator can choose between 3 different operation modes:

Hard Rock Mode

Medium Rock Mode

Soft Rock ModeEach 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 its

new environment by change mode.

SmartRig Rock Drill Control SystemMode change

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3

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 itsnew environment by change mode.

SmartRig Rock Drill Control SystemMode change

SmartRig Rock Drill Control SystemOverview of functions under different mode options

XXRPCF Pressure- and flow

controlled

XXRPCF Pressure controlled

XXXFSCI

XXIncrease (boost) of percussionpressure

XXXPorportional DPCI

XDPCI

SoftMediumHardOff

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5

SmartRig Rock Drill Control SystemIcons

Damper pressure

Collaring percussion

Drilling percussion

Dangerous to have drilling pressure with

low or no contact with the rock

Percussion, Drilling

Percussion pressure

Percussion, Collaring

Time Time

SmartRig Rock Drill Control SystemDamper Pressure Controlled Impact

DPCI before DPCI now

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6

Damper pressure

Collaring percussion

Drilling percussion


Percussion pressure

Percussion, Collaring

Time Time

SmartRig Rock Drill Control SystemDamper Pressure Controlled Impact

DPCI before DPCI now

SmartRig Rock Drill Control SystemMeasurements DPCI

140 145 150 155 160

130

140

150

160

170

180

190

200

Percussionpressure[bar]

Time [s]

Datafil: test-009.mat

140 145 150 155 16028

30

32

34

36

38

40

Feedpressure[bar]

Time [s]


140 145 150 155 16045

50

55

60

65

70

Damperpressure[bar]

Time [s]


140 145 150 155 160

0.8

1

1.2

1.4

1.6

1.8

2

2.2

2.4

2.6

Penetrationrate[m/min]

Time [s]


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7

Comparison between a system with and without DPCI

Damper pressure

Drilling percussion

Limit incr perc

Percussion pressure

Super Percussion


Time

Time

Time

Time

Before Now


Comparison between a system with and without DPCI

Damper pressure

Drilling percussion

Limit incr perc

Percussion pressure

Super Percussion


Time

Time

Time

Time

Before Now


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8

SmartRig Rock Drill Control SystemMeasurements DPCI pressure boost

30 40 50 60 70 80 90 100

185

190

195

200

205

210

215

220


Time [s]


30 40 50 60 70 80 90 10035

40

45

50

55

60

65

Feedpressure[bar]

Time [s]

Datafil: te st-021.mat

30 40 50 60 70 80 90 10055

60

65

70

75

80

85

90

95

Damperpressure[bar]

Time [s]


30 40 50 60 70 80 90 10036

38

40

42

44

46

48

50

Rotationpressure[bar]

Time [s]

Datafil: te st-021.mat

Damper Pressure Controlled Impact


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10

SmartRig Rock Drill Control SystemFeed Speed Controlled Impact

Percussion/Feed pressure

Percussion/Feed pressure,

Drilling

Percussion/Feed pressure,

Collaring

Before

Time

FSCI

Time

Feed Speed

Normal drilling speed

Limit reduce percussion

Upper limit

Time

Time

SmartRig Rock Drill Control SystemMeasurements FSCI

40 45 50 55 60 65

120

130

140

150

160

170

180

190

200


Time [s]


40 45 50 55 60 6515

20

25

30

35

40

45

50

Feedpressure[bar]

Time [s]


40 45 50 55 60 6535

40

45

50

55

60

65

70

75

Damperpressure[bar]

Time [s]


40 45 50 55 60 650

0.5

1

1.5

2

2.5

3

3.5

4

Penetrationrate[m/min]

Time [s]


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11

SmartRig Rock Drill Control SystemCavity Detection System - Simba

SmartRig Rock Drill Control SystemCavity Detection System - Simba

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12

SmartRig Rock Drill Control SystemFSCI all functions

Time

Penetration rate, high

percussion

Feed pressure

Percussion pressure, drilling

Percussion pressure

Percussion pressure,collaring

Penetration rate

Penetration rate, low

percussion

1 2 3 4 5

Feed pressure, drilling

Feed pressure, collaring

1-2 FSCI

3-5 FSCI with cavity detection

Feed Speed Controlled Percussion


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13


FSCI quiz

1. When does FSCI function first start to work in Hardrock mode? i.e.

when the feed speed is getting faster or slower?

2. Describe the situation when Feed speed, cavityis 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?


Flow

Feed flow drilling

Rotation

pressure

SmartRig Rock Drill Control SystemRotation Pressure Controlled Feed Improved version

Pressure drilling

Feed pressure

Feed pressure collaring

Limit for antijam

Feed pressure backRotationpressure

Before Now

Limit for antijam

Rotation

pressure

Rotation

pressure

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14

Flow

Feed flow drilling

Rotation

pressure


Pressure drilling

Feed pressure

Feed pressure collaring

Limit for antijam

Feed pressure backRotation

pressure

Before Now

Limit for antijam

Rotation

pressure

Rotation

pressure

Flow reduction

Flow direction change


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15


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?

Rotation Pressure Controlled Feed Improved version

Mode change


Rotation Pressure Controlled Feed

Damper Pressure Control Percussion

Hard Rock Controlled Percussion

Mode change


Cavity Detection System

Hard

Rock

Mode

Medium

Rock

Mode

Soft

Rock

Mode

X X X

X X X

X X X

X X

X X

X X X

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16


1. Why Hardrock mode only uses pressure regulation during RPCF?

2. Why boost function to Softrock 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?

Final quiz

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RigRig

ROC D7

4Menu diesel

4Tramming

4Chassie

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Menu Rig

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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 Actuations

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Menu Actuations - Power Pack

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Menu Actuations - Winch

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Menu Parameters

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1

Inclination instrumentInclination instrument

0 1

2

3

456

7

8

90 1

2

3

456

7

8

90 1

2

3

456

7

8

9

4Menu F4

4Inclination system principals

4Sensors

4Calibration

Inclination system Menu

Hole angleSide angle

40.0

30.0

4Angle indication

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2

3

Inclination system Menu

4

Inclination system Principals

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3

5

Inclination system Settings 1

6

Sight used to set the feedinto blasting direction.

Inclination system Sight

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4

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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5

9

Calibrate boom swing sensor

10

Calibrate aiming device

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6

11

Calibrate feed dump

Calibrate feed swing

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2

Sensors

01

2

3

45

6

7

8

90

1

2

3

45

6

7

8

90

1

2

3

45

6

7

8

9

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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3

Calibration

0

Sensors usually only requires calibration when replaced.

Feed

Set the feed vertical and measure with a water vertical instrument it so that youknow that the feeds angle is 0. The feeds angle is now zero and thereforeyou can now push the calibrate button for Feed dump and feed swing in themenu.

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4

Calibration

Aim

Turn the sight so it points straight forward, then use a 90angle instrument to

measure against the front window of the cabin, and by that establish that thesight is zero. Push the Calibrate button, the sight is then calibrated.

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5

Calibration

Measure the distance between two pointson the side on the cabin and to the boomattachment.

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. Thespace between the inner and outer boom attachment should be the same, inthat way you can determine that the boom is centered and then push theCalibrate button for boom swing.

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6

Inclination

In which menu do I activate the laser plane function?

______________________________________________What does the symbol mean?

_____________________________

_____________________________

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7

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 looklike?

Hole depth measuring is measuring the first rod but not the second. Whatcould the be problem?

Bit position is working but not hole depth measuring. What could be theproblem?

How could the trouble shooting procedure look like on D171?

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1

DrillplanDrillplan

4Drillplan

4Drillplan action

4Hole action

1

2

3

4

5

6

2

Drillplan

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2

Drillplan action

4

Drillplan action - Load drillplan

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3

5

Drillplan action - Create drillplan

6

Drillplan action - Save drillplan

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4

Hole action

Hole action - Add hole

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5

Hole action - Delete

10

Hole action - Move

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6

11

Hole action - Edit

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1

RHS

4Sensors

4Actuations

4Parameters

4Cradle positions

2

Menu - RHS

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2

3

Menu RHS/Sensors

RHS Sensors

B118 - Arm in drill centre

B120 - Arm in magasine

B182 - Stop pos magasine rotation CCW

B183 - Stop pos magasine rotation CW

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3

5

Menu RHS/Actuations

6

Menu RHS/Parameters

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4

Threading

8

Menu RHS/Cradle positions

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5

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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1

Automatic Rod Handling System

2


Pressbutton for activating auto

rod handling

This function can only be activated

when the rig is in full drilling mode

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2

3

Auto rod handling: Whenactivating the automatic rod

handling system, the field in

the information bar will light

up in green.


4

Automatic Rod Handling System FeedSpeed

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3

5

Automatic Rod Handling System Feedpressure

6

Automatic Rod Handling System - Timers

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4

Automatic Rod Handling System - Others

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1

Semi Automatic Positioning

Boom lever: Left lever used

to move the boom in following

positions:

Left / right

Down / Up

Pressbutton:

Boom extension in /out

2

Boom control

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2

Feed lever: Right lever usedto move the feed in following

positions:

Left / right

Forward / Backward

Pressbutton:

Feed extension up /down

3

Boom control

4

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 whenpressbutton is activated.

Semi auto positioning

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3

Semi auto positioning

Valve parameters

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4

Actuations

Sensors

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5

9

Semi Auto positioning

10

Semi Auto positioning

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1

Laser plane

2

Laser plane

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2

3

Sensors

4

Laser plane

When using the laser plane themeasuring on the display willadjust automatically to theinstall setting in the meny.

Laser plane

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1

Statistic & loggingStatistic & logging

RCS softwareStatistics & logging

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2

RCS software

RCS software

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3

RCS software

RCS software

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1

Winch

2

Winch

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2

Remote Controle

Remote control box on

Winch

Control light for

Cabin / Remotecontrol box

Activate remotecontrol box

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3

Boom up / down Signal horn Oscillation left / right

Boom swing left / right Support leg up / down

Tramming

levers left /

right

Control diods

for

programming

Winch

Activating winch or

tramming low / high

speed

Variable winch force Manual winch force

Winch

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