SmartRoc D65 System Description V 4.8

Atlas Copco
SmartROC D65 software v4.8

System description
Copyright 2010, Atlas Copco Rock Drills AB, Sweden Any unauthorized use or copying of
the contents or any part thereof is prohibited. This applies in particular to trademarks, model
denominations, part numbers and drawings
SmartROC D65 software v4.8 system description, PMI NR: 9853 1194 01a
Introduction
Introduction
A CAN-bus-based electronic control system was introduced on underground rigs in August 1998.
The system is known as RCS.
This system has since been developed on a number of hydraulically powered underground rigs. Since
2002 the system has also been used surface rigs, in an initial phase on the ROC D7. And since 2008
the system has been implemented on ROC D65s.
Abbreviations
RCS Rig Control System

RHS Rod Handling System
Signal types
In:
Button: Push button with closing contact when actuated.
Switch: Switch on external control unit.
Lever: Voltage output proportional to actuation (may have several axes).
Pulse: Incremental pulse sensor.
Pressure: Signal proportional to pressure.
Proximity: Sensor indicating proximity to iron.
Key: Start key, positions off, on and start.
AD 30V: Analogue voltage input, 0-30 V.
4-20 mA: Current input.
Switch: Making or breaking function for level indication.
Pot: Potentiometer.
Out:
A1 valve Single proportional valve
A2 valve Dual proportional output (one function in each direction)
D1 valve Single on/off valve
D2 valve Dual on/off valve (one function in each direction)
Relay Relay coil
Indicator Indicator to be shown on the display.
1
Contents
Contents
Introduction ......................................................................................................................................1
Abbreviations .................................................................................................................................1
Signal types ....................................................................................................................................1
Contents ............................................................................................................................................2
Technical data...................................................................................................................................5
Hydraulic system, general ................................................................................................................6
General...........................................................................................................................................6
Pilot pressure..................................................................................................................................6
Hydraulic pumps ............................................................................................................................7
Return oil and oil cooler .................................................................................................................8
Test connections for the hydraulic circuits ......................................................................................9
Electrical system, general ...............................................................................................................10
General.........................................................................................................................................10
Battery and charging.....................................................................................................................10
Main fuse .....................................................................................................................................10
Electrical cabinet, ECM and gateway............................................................................................10
Electrical block diagram ...............................................................................................................11
Diesel engine....................................................................................................................................12
System startup ..............................................................................................................................12
Engine startup...............................................................................................................................12
Ignition position ...........................................................................................................................13
Start position ................................................................................................................................13
Control instrument........................................................................................................................14
Fault indicators .............................................................................................................................14
Switches and sensors that automatically and manually stop the diesel engine ................................15
Switches and sensors that indicate faults only ...............................................................................16
Engine speed ................................................................................................................................17
Compressor .....................................................................................................................................18
General.........................................................................................................................................18
Compressor element .....................................................................................................................18
Air flow........................................................................................................................................18
Cooling and oil systems ................................................................................................................19
Regulator system ..........................................................................................................................19
Instrument and fault indication......................................................................................................19
Emergency mode B456.................................................................................................................20
Pumps and pilot pressure ...............................................................................................................21
Pump 1 .........................................................................................................................................21
Pressure control valve...................................................................................................................21
P max valve...............................................................................................................................21
Pump 1 pressure setting ................................................................................................................21
Pump 2, 3 and 4............................................................................................................................22
Pump 5 and 6................................................................................................................................22
Pilot pressure................................................................................................................................23
Cooling fans ....................................................................................................................................24
Conditions ....................................................................................................................................24
Cooling principle..........................................................................................................................24
Pump 5 & 6 maximum pressure ....................................................................................................25
Tramming .......................................................................................................................................26
Conditions ....................................................................................................................................26
Activating the tramming function..................................................................................................27
Reverse warning ...........................................................................................................................29
Tramming with high speed............................................................................................................29
2
Contents
Rear jack (option) .........................................................................................................................29
Positioning.......................................................................................................................................30
Boom and feed positioning ...........................................................................................................30
Positioning during tramming.........................................................................................................31
Track oscillation ...........................................................................................................................32
Oil pre-heating ................................................................................................................................33
Drilling ............................................................................................................................................34
Basic conditions ...........................................................................................................................34
Adjustable parameters...................................................................................................................34
Activating the drilling function .....................................................................................................35
Flushing air ..................................................................................................................................35
Rotation........................................................................................................................................36
Percussion ....................................................................................................................................37
Feeding ........................................................................................................................................38
Threading .....................................................................................................................................41
Drill lever sectors ............................................................................................................................43
Neutral .........................................................................................................................................43
Rotation........................................................................................................................................43
Collaring ......................................................................................................................................44
Drilling.........................................................................................................................................45
Rotation + rapid feed backward ....................................................................................................46
Feed/Rapid feed forward...............................................................................................................47
Feed/Rapid feed backward............................................................................................................48
Threading .....................................................................................................................................49
Unthreading..................................................................................................................................49
Rotation back ...............................................................................................................................50
Indicator positions on the feed beam .............................................................................................50
Extraction.....................................................................................................................................51
Anti-jamming protection ................................................................................................................52
Air system .......................................................................................................................................53
Air system general ........................................................................................................................53
HECL, DTH hammer lubrication system.......................................................................................53
DCT, dust collector.......................................................................................................................54
Calibration sensors .........................................................................................................................56
Length measurement ......................................................................................................................57
RHS, Rod handling system .............................................................................................................58
General.........................................................................................................................................58
System pressure............................................................................................................................58
Drill steel support & Break out table.............................................................................................59
Break out table emergency mode ..................................................................................................60
Carousel rotation ..........................................................................................................................60
RHS arm transfer and gripper rotation...........................................................................................61
RHS emergency mode ..................................................................................................................62
Rod grippers .................................................................................................................................63
Suction hood.................................................................................................................................63
RHS sensor summery ...................................................................................................................64
One hole automatics (OHA) ...........................................................................................................65
Function .......................................................................................................................................65
Options.........................................................................................................................................66
Summery of error messages during auto RHS ...............................................................................67
I/O Module, CAN bus .....................................................................................................................71
General.........................................................................................................................................71
Application module ......................................................................................................................72
I/O modules..................................................................................................................................73
Decoder module ...........................................................................................................................74
3
Contents
Display module.............................................................................................................................75
Overview - CAN components on D65s .........................................................................................75
Fault indication.............................................................................................................................76
Module status, Display .................................................................................................................77
General and specific settings for modules and angle sensors..........................................................78
Options ............................................................................................................................................80
Watermist system 225 l & 400 l....................................................................................................80
Laser sensor..................................................................................................................................82
Spray greasing system ..................................................................................................................83
Australia options .............................................................................................................................84
Engine Idle-down Timer ...............................................................................................................84
Tramming isolator ........................................................................................................................84
Rod in Hole Lockout ....................................................................................................................85
Operator Out of Chair Deallocation ..............................................................................................85
External Switch for Water Mist Pump Control ..............................................................................86
Auxiliary Output...........................................................................................................................86
External Signal Horn ....................................................................................................................86
Overview - Sensors, Valves.............................................................................................................87
Cab...............................................................................................................................................87
Fault, warning and information symbols .......................................................................................88
Search list ........................................................................................................................................90
Sensors .........................................................................................................................................90
Actuations ....................................................................................................................................91
4
Technical data
Technical data
Weight (without drill steels and extra equipments)
SmartROC D65s Weight 22600 kg
Performance
Diesel engine, CAT C15 output at 1800 rpm 402 kW
Working temperature range -25 till +50/55C
Tramming speed, max 3.2 km/h
Tractive force 138 kN
Ground clearance 405 mm
Max. hydraulic pressure 250 bar
Track oscillation (forward/backward) 10/10
Noise level (inside cab) during drilling <85 dB(A)
Noise level (outside cab)
Idling 115.5 dB(A)
Max. engine speed 115 dB(A)
Drilling 127 dB(A)
Vibration in operator's seat during drilling
(weighted average) 0.18 m/s2
Electrical system
Voltage 24 V
Main batteries
Voltage 2 * 12 V/185 Ah
Working lights
Front 4 * 70 W
Back 2 * 70 W
Roof 1 * 70 W
Feeder 2 * 70 W
Air system
Compressor XRX 10
Max. air pressure 30 bar
Free air delivery at 30 bar 470 l/s
Capacities
Hydraulic oil reservoir 380 l
Hydraulic system, total 470 l
Fuel tank 1050 l
Traction gear 3l
Compressor oil 63 l
Lubrication oil tank 20 l
Diesel engine oil 30 l
Engine cooling system 68 l
Air conditioning
Red Dot
Refrigerant, type R134A
Miscellaneous
Fire extinguisher A-B-C powder 2 * 6 kg
5
Hydraulic system, general

General
The hydraulic system of the ROC D65s is controlled by means of pilot pressure. The system
comprises 6 pumps. Hydraulic pump 1, 2, 3 and 4 are in-line assembled and direct driven by the diesel
engine over a flexible coupling. The hydraulic pumps 5 and 6 are combined to a double pump with
common suction line. They are driven by the diesel engineers extra power-take-off.
Tramming control via

Main valve block CANBUS
CAN information Drill Rapid Traction Traction Rotation

Settings feed feed left right Preheating
Extra oil only when drilling
Rod Dust Collector

handling
Extra oil to rotation
Postioning
during drilling Postioning during tramming
Cooler motor
Compressor/Hydraulic oil
Cooler motor
Engine water/ATAC
1
2 3 4 5 6
Pilot pressure
The pilot pressure is generated in the drilling block (main valve block), feed and boom positioning
block. The pilot pressure generated in the drilling block supplies its directional valves with oil, it also
supplies the tramming blocks directional valves with oil and the directional valves for high-speed
tramming. The pilot pressure generated in the feed/boom positioning blocks supplies their directional
valves with oil.
All settings for pressure and speed can be entered in the display.
The tramming controls are located close to the operator's seat and control the tramming valves in a
proportional manner. (See further description under chapter Pumps and pilot pressure.)
6
Hydraulic pumps
Pump 1:
Main pump 1 in the hydraulic system is an axial piston pump that delivers oil to control the pilot
pressure. (Read more under pilot pressure.) The pump delivers hydraulic force to the following
functions:
Feed
Feed positioning
Boom positioning
Tramming
Track oscillation
Rod handling system
Pump 2, 3 and 4:
These gear pumps are combined to a triple pump unit.
Pump 2 supplies oil to the rotation unit, but is also used for pre-heating of hydraulic oil.
Pump 3 supplies oil to the dust collector suction fan motor.
Pump 4 supplies oil to the boom/feed positioning circuits during tramming, also additional oil to
the rotation motor when drilling.
Pump 5 and 6:
Pump 5 drives the cooler motor for he combined hydraulic oil/compressor oil cooler.
Pump 6 drives the cooler motor for engine radiator and intercooler.
Pump capacity at 1800 rpm (engine speed)

CAT C15, 402 kW
Flow litre/min Pressure (bar, max)
Pump 1 0-245 250
Pump 2 110 181
Pump 3 65 170
Pump 4 40 230
Pump 5 30/*45 207/*225
Pump 6 30/*45 207/*225
* Higher figure refer to the 55C high ambient temperature option.
7
Return oil and oil cooler

The hydraulic oil tank has a capacity of 380 litres, which means there is most often a reserve in the
oil tank. There are two return-/drain oil filters that filter the hydraulic oil returning from the return-
and drain circuits and oil used to fill the system. There is also a breather filter that prevents
contaminated air entering the tank when the level of hydraulic oil fluctuates. The thermostats ensure
that the oil flows through the oil cooler when the temperature is above 40C and directly to the tank
when the temperature is below 40C. The by-pass valve protects the oil cooler from exposing to high
pressure.
The oil cooler cools the hydraulic oil so that the rig can work at full load in ambient temperatures up
to 55C (optional). The cooling fan is driven by a fan motor that is supplied with oil by pump 5. The
pressure to the fan motor is controlled by a proportional pressure relief valve. The control system
regulates the pressure, and thereby the fan speed depending on the cooling demands.
T-Return oil is a collection block that collects return oil from the various circuits and leads this to the
thermostats.
D-Drain oil is a collection block that collects oil from the various circuits and leads this to the return
oil filter.
L-Drain oil is the oil that goes directly to tank for minimum resistance in the circuits.
The filler pump is used to fill the system. There is a check valve that prevents return oil from leaking
out through the filler pump. A level sensor (B143) detects the level of hydraulic oil in the tank. Should
this drop below a certain level, the diesel engine is switched off automatically. The sensor signal from
B143 goes via I/O module D512 and contact X6a.
The temperature sensor (B362) senses the hydraulic oil temperature and the temperature will be
shown on the display. The engine will shut down automatically if the hydraulic oil temperature
exceeds 90C. The sensor signal from B362 goes via I/O module D512 and contact X20.
The drain cock is used to remove water of condensation or to empty the hydraulic oil tank.
Thermostats
Oil cooler
Check valves
Refill pump
Breather
By-pass filter
valve
Drain cock
Hydraulic oil tank Return- / drain oil filter

Figure: Return oil and oil cooler
8
Test connections for the hydraulic circuits

1250 0129 93
Figure: Test connections for checking the hydraulic circuits.
Connect the test connections to the various outlets (see list below):
1. Hydraulic pump 1: Drill feed, Rapid feed, Tramming, Positioning, RHS system
2. Hydraulic pump 2: Rotation, Pre-heating av hydraulic oil
3. Hydraulic pump 3: DCT
4. Hydraulic pump 4: Positioning during tramming, additional oil to the rotation motor when
drilling
5. Hydraulic pump 5: cooler motor for the combined hydraulic oil/compressor oil cooler
6. Hydraulic pump 6: cooler motor for engine radiator and intercooler
7. Pilot pressure
8. Load pressure
9
Electrical system, general

General
ROC D65s has a 24 volt electrical system for monitors and fault diagnosis. Electrical power is also
used to control a number of hydraulic valves and compressed air valves. The structure of the electrical
system is illustrated in a block diagram.
Battery and charging

The power source for starting the engine is two 12 V/185 Ah batteries that are connected in series.
These are charged by a 3 phase A/C alternator. The batteries are connected to the system via a manual
battery switch.
Main fuse
The feed to the electrical cabinet is fused by two 60 A main fuses (F300, F301).
Electrical cabinet, ECM and gateway
The electrical cabinet contains 20 fuses

that limit the intensity to the various
subcircuits, and numerous relays for the
Gateway
rig's electrical functions. (Transformer)
The electronic control module (ECM) ECM
monitors the engine's functions and
sensors. The engine's ECM stops the
engine automatically is certain faults arise
- faults that can cause secondary damage
to the engine, such as low oil pressure or Electrical Cabinet
low coolant level.
Fuses Relays
F01 F9 K4 K132
The gateway is located above the F02 F13 K5 K200
electrical cabinet and converts all F04 F18 K18 K501
F1 F24 K542
information from the engine's ECM. It F3 F31
converts J1939 to CAN open language, F4 F34
F5 F101
and ensures that the correct information is F6 F102
shown on the cab display. The gateway F7 F103
F8 F109
also converts information to the ECM
from CAN open language to J1939, i.e.
engine speed.
Batteries
What is J1939?
SAE (Society of Automotive Engineers) J1939 is the vehicle bus standard used for
communication and diagnostics among vehicle components, originally by the car and heavy
duty truck industry in the United States.1
1
"J1939." Wikipedia. Web. 12 Aug. 2010. <http://en.wikipedia.org/wiki/J1939>.
10
Electrical block diagram
Engine start Start motor

M1
Relay K5
I/O Module
D512, X24a
I/O Module
D512, X11b
Contact Start ECM

K200
Relay K200 Start

position
I/O Module
50 circuit
D512, X24b
Relay K4
I/O Module Cabin electrical
D512, X11a efter ignition
RCS System on Ignition

position
Relay K132 Contact

K501 K132
25 circuit
Emergency
ECM
Main switch on
Cabin electrical
before ignition
Generator
Timer, diesel heater
2x Battery
12V / 185Ah
11
Diesel engine
Diesel engine
System startup
Diesel engine speed is always low after system startup, at an idling speed of 1100 rpm. The
compressor (Y210) must be unloaded. No actuations must be made.
Engine startup
Signal Value____________________________
Compressor loading (Y210) Unloaded at startup

Diesel engine Not started
Cooling water temperature (B354) Must not indicate high coolant temperature
Compressor temperature switch (B366) Must not indicate high compressor temperature
Compressor vessel pressure (B456) Must not indicate high pressure
Cooling water level switch (B361) Must not indicate low coolant level
Hydraulic oil level switch (B143) Must not indicate low hydraulic oil level
Hydraulic oil temperature (B362) Must not indicate high hydraulic oil temperature
When starting the diesel engine, make sure that:

Compressor 6 8 10
5 12
load/unload
Battery switch S300 is ON. 4 13
Fuses F300, F301, F1, F3, F4, F5, F6, F13, F101 and 3
7 9 11
14
F103 are not tripped. 2 38 15
All emergency stops S132B, S132C, S132D and S132E 1 16
are not tripped.
Load compressor must be in position OFF.
Sequence
Activation of start key (S139):
1. Wait for stop solenoid delay 0.5 s.
2. Activate stop solenoid (K200).
3. Wait for start relay delay 0.5 s.
4. Activate start relay (K5).
Starter motor relay (K5) is activated long as the key (S139) is in the start position.
NOTE: The stop solenoid delay and start relay delay are factory settings.
12
Diesel engine
Ignition position
When the ignition key S139 is in the ignition position, contacts 30-50 and 30-75 are closed (see
electrical diagram for further description). Current is supplied to ignition relay K4 as well as ECM via
K200 and K4 to start the ECM and pre-heating. I/O module D512 with contact X11a is then activated,
and the display shows that ignition is ON. When ignition relay K4 is activated, contact K4 is closed
and current is led to contact K5.
Conditions for starting the diesel engine (activating stop solenoid K200):
Emergency stop relay (K132) D512:X5a-high
Ignition key (S139) in ignition position D512:X11a-high
Compressor vessel pressure (B456) D512:X4 (<1bar)
Compressor temperature (B366A/B)* D512:X2/X3 (<120C)
Hydraulic oil temperature (B362) D512:X20 (<=90C)
Hydraulic oil level sensor (B143) D512:X6a-high
Cooling water level switch (B361) D512:X23a-high
*The compressor temperature condition is only put to use when the engine has been switched off
earlier due to high compressor temperature at either 129C (soft stop) or 130C (emergency stop).
Please refer to Switches and sensors that automatically and manually stop the diesel engine for more
information.
If the conditions above are fulfilled:
D512:X24b-high K200 activated ECM fully functional, enables engine start
Start position
Wait for 10 seconds before turning the ignition key from ignition position to start position.
When the ignition key S139 is turned to the start position, the diesel engine starts. Release the ignition
key, the key springs back to the running position. If the engine fails to start, check which symbol(s)
are displayed and rectify the fault. Turn the key back to position 0 before trying again.
Conditions for activation of starter motor:

emergency stops S132B, S132C,
S132D and S132E not tripped.
That fuses F300, F301, F1, F3, F4,
F5, F6, F13, F101 and F103 are not tripped.
Ignition key (S139) in start position D512:X11b-high
(contacts 30-15, 30-50 closed)
Stop solenoid K200 activated (see condition above) ECM fully functional
If the conditions above are fulfilled, I/O module D512 contact X24a is set to high. The current is fed
to start relay K5. When contact K5 closes, the starter motor (M1) is activated.
D512:X24a-high K5 relay M1 activated
13
Diesel engine
Control instrument
The ECM controls and monitors all engine data and the diagnostic information from the diesel
engine's sensors and switches. This information is sent via a gateway to the display in the cab, where
all the necessary engine information is presented. The gateway translates information from J1939 to
CAN open so it can be presented on the display.
Signals are also sent via the I/O modules directly to the display in the cab, where information can be
viewed. (See figure.)
Status bar
Fault indicators
The rig has many monitoring functions that check that all data is relevant and correct. If a problem
arises, signals are sent from the ECM via the gateway or from sensors via the I/O modules.
When a fault related to the engine arises, signals are sent from the ECM via the gateway to the display
in the cab, and information about the sensors is presented in plain text in the engine status window
(see below). Caterpillar's diagnostic codes can also be viewed for respective sensor. When certain
faults arise, a fault window automatically appears on the display. This can be acknowledged by
pressing ESC, and the corresponding warning lamp is lit on the status bar.
Faults that are accompanied by a red warning lamp switch the engine off automatically. If a yellow
indicator light is shown, the engine must be switched off manually. All faults should be carefully
checked and rectified.
14
Diesel engine
Switches and sensors that automatically and manually stop the diesel
engine
When a fault arises, an information window appears on the screen. This information window must be
closed manually by using the Ecs button. The fault is also indicated by a lamp on the status bar
indicating events.
Manual shutdown:
Start key (S139)
Emergency stop (S132B, S132C, S132 D, S132E)
Automatic shutdown:
These are indicated by a red lamp on the status bar and switch 5V 5V
the engine off automatically. 24V STATUS

24V
Hydraulic oil level (Digital sensor B143): Via I/O

module D512 and contact X6a. If the oil level is
below normal, the input signal becomes low, and the
engine is switched off automatically.
Hydraulic oil temperature (Analog sensor B362):

Via I/O module D512 and contact X20. If the
temperature exceeds 80C, a warning is shown first; if
the temperature then exceeds 90C, the engine is
switched off automatically. Figure: I/O module
Compressor temperature (Analog sensor B366A/B): Via I/O module D512 and contact
X2/X3. The behaviour of the compressor temperature above 125C can be described as
follows:
- If the temperature is < 125C

Solenoid valve Y210B is activated, i.e. compressor high pressure is allowed.
- If the temperature > 127C
Warning for overheated compressor will be displayed
- If the temperature >= 128C
Solenoid valve Y210B is deactivated, i.e. compressor high pressure is automatically
switched to compressor low pressure.
Solenoid valves Y210B, Y210A, Y116, Y115 are all deactivated, i.e. compressor is
unloaded, flushing is stopped.
Drilling mode is switched back to tramming mode
Engine speed is lowered to 1100 rpm
And when the compressor vessel pressure B456 < 10 bar, then the engine is switched
off.
Text Soft Stop, High Compressor Temperature will be displayed
The engine is switched off immediately.
Solenoid valves Y210B, Y210A, Y116, Y115 are all deactivated, i.e. compressor is
unloaded, flushing is stopped.
Text Emergency Stop, High Compressor Temperature will be displayed
15
Diesel engine
Coolant water level (Digital sensor B361): Via I/O module D512 and contact X23a. In case
of low coolant water level, the signal becomes low, and the engine is switched off
automatically.
Hydraulic oil filter (Analog sensor B139): Via I/O module D512 and contact X22.
Monitoring is activated when the diesel engine is started and the hydraulic oil temperature
(B362) exceeds 30C. If the pressure exceeds 1 bar, a warning is shown first; if the pressure
exceeds 2.5 bar, the engine is switched off automatically.
HECL pressure (Analog sensor B369): Via I/O module D512 and contact X21. The pressure
after the HECL-pump (Y165) is monitored during drilling. If the pressure is less than Min
HECL pressure following Time before HECL Guarding and for a longer period than Timeout
HECL pressure, drilling is stopped. A warning message is displayed. These adjustable
parameters can be found in menu Drilling/Parameters/Lubrication.
Engine coolant temperature (B354): The engine coolant temperature sensor is part of the
Caterpillar system and linked to the ECM. Should the coolant temperature reaches 110C, a
yellow warning is shown on the display after 10 seconds; at 111C the ECM shuts down the
engine after 10 seconds and a red warning is shown on the display.
Engine oil pressure: The engine oil pressure sensor is part of the Caterpillar system and
linked to the ECM. In case of abnormal pressure, the engine is switched off automatically.
Fuel pressure: The fuel pressure sensor is part of the Caterpillar system and linked to the
ECM. In case of abnormal pressure, the engine is switched off automatically.
Fuel temperature: The fuel temperature sensor is part of the Caterpillar system and linked to
the ECM. In case of abnormal temperature, the engine is switched off automatically.
Switches and sensors that indicate faults only

When certain faults arise, an information window appears on the screen. This information window
must be closed manually by using the Ecs button. The fault is also indicated by a lamp on the status
bar indicating events.
A yellow lamp on the status bar indicates abnormal values that should be checked.
Engine air filter (Digital sensor B360): Via I/O module D511 and contact X17a, in case of
clogged air filter, the signal becomes high.
Compressor air filter (Digital sensor B365): Via I/O module D512 and contact X18b, in
case of clogged air filter, the signal becomes high.
Fuel level (Analog sensor B352): Via I/O module D511 and contact X22.
Battery voltage
Air inlet temperature
Note: For more information, see the Caterpillar operator's manual SEBU 6123-05.
Refer to chapter Fault, warning and information symbols for a complete list all kinds of warning,
fault and information symbols.
16
Diesel engine
Engine speed
The engine speed can be regulated by manually three buttons, button 8, 19 and 20 (see figure and table
below). The engine starts on 1100 rpm.
During drilling:
By shifting to drilling mode, the engine speed increases to the intermediate speed (1500 rpm). When
any of the drilling functions which include activation of flushing air is activated, the engine speed
increases to the last set value which the system has remembered. This value stays actual even when the
rig is to be restarted. If nothing has been set yet the engine speed increases to the max engine speed
(1800 rpm). The engine speed can be changed by pushing button 19, the engine speed increases with
50 rpm, in the same way the engine speed can be reduced with 50 rpm/push by using button 20.
When none of the drilling functions which include activation of flushing air is activated anymore,
typically when the rod handling system is active, the engine speed automatically lowers itself to the
intermediate speed (1500 rpm). Though this speed can be reduced to the idling speed (1100 rpm) by
pushing button 8, and this value stays actual even when the rig is to be restarted.
During tramming:
The engine speed for tramming can also be set with buttons 19 and 20. The engine speed goes back to
the last set value for tramming every time when shifting back to tramming mode, even when the rig is
to be restarted. If nothing has been set yet the engine speed goes back to the intermediate speed (1500
rpm). When tramming is directly activated after engine start, the engine speed can be increased to the
last set value by using button 19, otherwise the rig trams at the idling speed (1100 rpm).
Signals are first sent through CAN lower net to the display, from here they are send through CAN
upper net to the gateway. The gateway convert CAN open language to J1939 so that ECM can receive.
CAN message includes information on the currently desired speed. When drilling the engine speed is
controlled by the drill lever.
1 2 3 4 5
Button Start Increment Max
/push
8 1100 rpm
6 7 8 9 10
19 1500 rpm 50 rpm 1800 rpm
35 36
20 1800 rpm 50 rpm 1500 rpm
11 12 19 20
Note: To reduce the speed to 1100 rpm, button 8 must be 13 14 21 22
activated manually. This function is not automatic.
15 16 23 24
17 18 25
17
Compressor
Compressor
General
The on board compressor is a double stage, oil-injected screw compressor. The normal working
pressure for ROC D65s has been set to 30 bar, which also is the maximum pressure. The maximum
free air delivery (FAD) for ROC D65s is 470 l/sec at 30 bar working pressure with 20C ambient
temperature.
Compressor element
The compressor element contains two rotors, one female and one male rotor, mounted on roller as well
as ball bearings. The female rotor is driven by the diesel engine, and powers the male rotor. The rotors
are lubricated by oil, injected and mixed with the air. This also increases the efficiency as the oil seals
between the rotor-tips and housing. The compressor elements for ROC D65s are of Atlas Copco type
OIS N-02 and OIS J-33. The gear ratio is 2.195.
Air flow
Intake air is drawn in through the air filter and the inlet valve to the compressor element. The air is
mixed with injected oil and after compression is passed through the check valve into the air receiver.
The check valve prevents back-flow of compressed air when the compressor is stopped. In the air
receiver, most of the oil is removed from the air/oil mixture by the oil separator. The flow of
compressed air then passes through the minimum pressure valve out into the drill rigs air system. The
minimum pressure valve prevents the pressure in the air receiver to drop below the minimum working
pressure of the compressor before the air is released, in order to ensure proper function of the oil
system.
Atmospheric pressure
Control air pressure
Working air pressure
Air/Oil mix
Oil
18
Compressor
Cooling and oil systems

Oil is used for lubrication, sealing, cooling and is boosted by air pressure, there is no oil pump. The
lower part of the air receiver serves as oil tank. Air pressure forces the oil from the air receiver through
the oil cooler, oil filter and the oil stop valve to the different injection points of the compressor
element. The air/oil mixture then leaves the compressor element and re-enters the air receiver, where
the oil is separated from the air by centrifugal or cyclone forces and the oil separator element. Oil that
is collected in the bottom of the oil separator is returned to the oil system by way of the scavenge line
and flow restrictor. The oil stop valve prevents the compressor element from flooding with oil when
the unit is stopped.
Note: A thermostatic valve bypasses the oil cooler when the oil is below 80 C, refer to paragraph
Cooling principle in chapter Cooling fans for more information on how cooling is controlled.
Regulator system
The compressor control system contains two regulating valves. These valves serve to adapt the volume
of air supplied by the compressor to the air consumption, while simultaneously maintaining the
working pressure within the limits.
The control system also includes a load solenoid Y210A and a high/low pressure solenoid 5
valve Y210B. Y210A is activated by button 5 on the right hand control panel. Pressure
switch B456 prevents the engine to start if there is more than 1 bar in the air receiver before
starting the engine; the same pressure switch also prevents the compressor to load below 4
bar. To start the compressor, the engine speed must reach at least 1300 rpm to allow
compressor loading. Solenoid valve Y210B is activated when the drill lever is in high impact position.
For more information about the control system and compressor problem solving, please refer to the
Maintenance Instructions.
Instrument and fault indication

The compressor air pressure delivered to the hammer (detected by B188) can be read in the F1 menu.
The compressor air pressure at the air receiver (detected by B456) can be read both in the F1 menu
and on the pressure gauge next to the compressor regulator.
The compressor has also 2 temperature indicator-switches, B366A and B366B, which automatically
generate a warning on the display if the compressor temperature has reached +127C, and cuts the
diesel engine if the compressor temperature has reached +129C or +130C.
Pressure at air
receiver
Pressure at
hammer
19
Compressor
Emergency mode B456

It is always difficult to predict which sensor might fail during operation. In order to make sure that the
operator can still have full control of the rig if the vessel pressure sensor B456 fails, the following
option can be chosen in menu F2 Settings 1 in order to start the engine and load the compressor. In
this case, the rig would act as if this sensor never existed.
20
Pumps and pilot pressure

Pump 1
Pump 1 is the main pump in the hydraulic system of ROC D65s.
To feed/tram
It is an axial piston pump with a variable displacement. The
LS pressure
pump is pressure compensated, which means that the pressure is
Returning
maintained constant irrespective of the flow. The pump pressure
can be controlled by pressure control valve 4d located in the
main valve block.
Pressure control valve

During tramming, pump 1 is working in load sensing mode,
which means that the pump pressure depends on the load on the
tramming motors. The maximum pressure of pump 1 can be 4d
adjusted by pressure relief valve 4d.
During drilling, pump 1 operates on constant pressure set by
pressure relief valve 4d + the Delta-p preset pressure.
34
P max valve
The P max valve located on the pump limits the maximum
pump output pressure, but this pressure would not be reached
since pressure relief valve 4d which is set to be lower than P
max, is there to limit the system pressure. Valve 4d should be
used when adjusting the pump 1 working pressure within the system. P max is set to be higher than
4d by factory setting, so its usually not necessary to change the setting on P max, this way P
max would not interfere with the LS signal.
In order to avoid start the diesel engine with pump 1 pressurized, the rig must be in the Tramming
mode when starting. In this mode, pump 1 runs at standby pressure, 23 bar.
Pump 1 pressure setting

Checking / Setting the stand-by pressure Delta-p.
Delta-p
1. Start the engine and set the engine speed to 1500 rpm.
2. Make sure the rig is in Tramming mode.
3. Make sure no functions are activated, so the rig stands still.
4. Pressure gauge 34 connected to pump 1 pressure line should show
23 bar.
5. Adjust the Delta-p set screw on the pump regulator if necessary. P Max
Checking / Setting the pressure relief valve 4d.

2. Make sure the rig is in Drilling mode.
3. The reading from gauge 34 should be 250 bar (LS return pressure + delta-p). If not, adjust the
screw on 4d until the gauge reads 250 bar.
Note: If it happens that the reading is lower than 250 bar, and by adjusting 4d the gauge reading
stays the same. This means that the P max valve is not correctly adjusted. Adjust P max valve
according to the instructions below, then adjust 4d until the gauge reads 250 bar.
21
Checking / Setting the maximum pump pressure P max.

2. Make sure the rig is in Drilling mode.
3. Screw pressure relief valve 4d to its end position, so it would not limit the system pressure
produced by pump 1.
4. Screw the P max set screw clockwise (if the pressure is too low) or anti-clockwise (if the
pressure is too high), while watching gauge 34 until it reads 270 bar.
5. When this is done, re-adjust the screw on 4d until the gauge reads 250 bar, to get back to its normal
setting.
Pump 2, 3 and 4
Pumps 2, 3 and 4 are combined to a triple gear pump, mounted on pump 1.
As mentioned earlier, pump 2 is used for supplying oil to the rotation unit, as well as pre-heating of
hydraulic oil. During drilling, the maximum pressure of pump 2 is set by pressure relief valves in the
drill rotation circuit. Pump 2 is loaded at 11 bar when starting the engine.
Refer to chapter Oil pre-heating for information on pressure setting for pump 2 during pre-heating.
The pressure of pump 3 can be set by a variable pressure relief valve in the DCT valve block. Pump 3
is unloaded at engine start-up, the oil goes directly to the tank through the inactivated solenoid valve
Y250 when the rig is in tramming mode.
The pressure of pump 4 is controlled by solenoid valve Y121B, which is first activated a few seconds
after the engine has started. The pressure of pump 4 is then set by a fixed pressure relief valve set to
230 bar in the main valve block when the rig is in tramming mode.
During drilling, the flow from pump 4 is directed by the un-activated Y121B to merge with the flow
from pump 2. The maximum pressure for pump 4 in this case is set by pressure relief valves in the
drill rotation unit as well.
Pump 5 and 6
Pumps 5 and 6 are gear pumps and driven by an extra power take off on the side of the diesel engine.
The pump pressure is set by an electro proportional relief valve mounted in each cooler fan motor.
These pumps are loaded 15 seconds after engine start.
Refer to chapter Cooling fans to see how to check the maximum pressure of pump 5 & 6.
22
Pilot pressure
Pilot pressure is supplied by pump 1 and generated in the main valve block by pressure reducing valve
4b set to 35 bar, and then out to the pilot circuits. A pressure relief valve set to 45 bar secures the pilot
pressure if the seals on valve 4b break.
Solenoid valve Y169 control whether the pilot pressure goes to the drilling circuit or to the tramming
circuit. Solenoid valve Y169 is activated when the rig is in tramming mode and deactivated when the
rig is in drilling mode.
Pressure relief valve
To tramming circuit To DCT hatch, feed,

rotation circuit
Acitvated when
tramming with
4b high speed 4b
To the main valve block To the main valve block
Actual pressure
required for
tramming
Pilot pressure Pilot pressure

during tramming during drillling
23
Cooling fans
Cooling fans
Conditions
The rig is equipped with two standard fan drives which are supplied by pump 5 & 6, one for cooling
the compressor/hydraulic oil, and the other one for cooling the engine water/air inlet. High ambient
temperature fan drive for warmer environment is available as an option.
Conditions for starting the compressor/hydraulic oil temperature cooler fan:

Compressor temperature sensor B366 D512:X2/X3
OR
Hydraulic oil temperature sensor B362 D512:X20a
Results in:
D512:X8a Y504 activated
Conditions for starting the engine water/ATAC temperature cooler fan:

Engine coolant temperature sensor B354 (CAT system)
OR
Air inlet temperature (CAT system)
Results in:
D512:X7a Y501 activated
Revolution
The signal input to solenoids Y504 and Y501 varies max

between 0mA 510mA depending on the cooling
demands. At 510mA, little hydraulic oil is available to
power the fan motor. And at 0mA, the displacement of
the fan motor is significantly increased which lead to a mA
much higher output of the fan. 0 510
Cooling principle
The Vaportec system is used for controlling the compressor temperature in order to minimize
condensation in the compressor system. The system works differently depends on whether the
compressor is loaded or not.
When the compressor is loaded:

The cooling of compressor is dependent of the ambient temperature. There are different cooling
requirements for different ambient temperature (see table below).
Ambient Temperature setting Ambient Temperature setting

temperature [C] [C] temperature [C] [C]
> 35 At least 120 5 85-100
30 110-120 0 80-95
25 105-120 -5 75-90
20 100-115 -10 70-85
15 95-110 -15 65-80
10 90-105 <-20 60-75
E.g. when the ambient temperature is higher than 30C, the cooling fan strives to keep the
compressor temperature to be between 110C-120C. Prior to 110C, valve Y504 is set at 510
mA. Between 110C to 120C, the setting of valve Y504 varies proportionally according to the
graph above. When the temperature has reached 120C, valve Y504 is set at 0mA to allow full
rpm.
24
Cooling fans
But if the hydraulic oil temperature at any point exceeds 70C, the control of cooling is taken over
by the hydraulic oil temperature. At 70C, valve Y504 is set at 510mA. Then the regulation is
proportional until the temperature reaches 75C. At 75C, valve Y504 is set at 0mA to allow full
rpm.
When the compressor is not loaded:

The cooling fan is striving to keep the hydraulic temperature to be between 40C-50C. The same
concept is applied here as well, at 40C the regulation starts, and at 50C the fan is running at its
maximum rpm. It is therefore important that tramming should always happen with un-
loaded compressor.
The cooling fan for engine water/ATAC (controlled by valve Y501) is on minimum rpm until the any
of the temperature has reached 85C, then the regulation starts according to the graph above, full rpm
is reached when any of the temperature has reached 95C.
Pump 5 & 6 maximum pressure

Since the pressure settings of electro proportional relief valves Y504 and Y501 are controlled by the
actual temperature sent by the temperature sensors. Therefore it is necessary to disable the temperature
control function in order to check the maximum pressure of pump 5 & 6.
This can be done by disabling the fan control option in menu F2 Settings 2.
25
Tramming
Tramming
Conditions
Conditions for left tramming motor:
That tramming mode is activated I/O-D101X18a Y121A activated
I/O-D101X18b Y121B activated
I/O-D511X10a Y169 activated
The jack is up I/O-D510X14a B184 activated
Left tramming lever in forward position I/O-D101X7a Y206A activated
Left tramming lever in back position I/O-D101X7b Y206B activated
Conditions for right tramming motor:

That tramming mode is activated I/O-D101X18a Y121A activated
I/O-D101X18b Y121B activated
I/O-D511X10a Y169 activated
The jack is up I/O-D510X14a B184 activated
Right tramming lever in forward position I/O-D101X8a Y207A activated
Right tramming lever in back position I/O-D101X8b Y207B activated
26
Tramming
Activating the tramming function

When the Tramming mode is selected (default mode when starting the rig), the following solenoid
valves are activated.
Activation of Y121A:
- It allows pump 1 pressure to connect to pressure compensator 4p and 4r in the main valve
block, 4p and 4r also have the functions of dividing the oil flow equally. The tramming
pressure is limited by pressure relief valve 4d set to 230 bar.
Activation of Y121B:
- The oil pressure from pump 4 is limited by pressure relief valve 4c set to 230 bar, the pressure
is then delivered to positioning functions (see illustration in chapter Positioning).
The tramming direction and speed are controlled by means of pilot pressure controlling the
proportional directional valves, 4q and 4s. And these directional valves are controlled by solenoid
valves Y206A, Y206B, Y207A and Y207B. The pilot pressure changes the directional valves position
proportionally and pump 1 supplies the tramming motors hydraulic circuits with oil and pressure.
Y206A Y207A
Y206B Y207B
4p 4r
4q 4s
4d
Figure: Main valve block - Tramming
27
Tramming
The output range of the proportional electrical pilot valves for tramming can be adjusted in the menu
Rig/Parameters/Tramming, thus varying the tramming speed. The output range lies between
330mA 530mA.
The valve block included in the tramming motor 66 contains a pilot operated directional valve 66b and
a pressure reducing valve 66c for releasing the tramming brake when the motor is pressurized. To
prevent the motors from increasing speed when tramming down a slope, the over centre valve 66d
serves as hydraulic brakes by means of creating counter pressure in the motor return line when the
pressure in the motor pressure line drops.
66
66f
66e
66d
66b
66c
Figure: Tramming motor
28
Tramming
Reverse warning
Conditions:
Tramming levers in back position I/O- D512X9b H185, H186 activated
When the rig is reversing, a signal is automatically sent via the I/O module that activates a warning
siren and a flashing beacon. These warn that the rig is moving backwards.
Tramming with high speed 10

Conditions:
Button 10 I/O- D101X17b Y122 activated
*Hydraulic oil temperature (B362) must be at least 20C, see chapter Oil pre-heating.
When tramming high speed is selected with button 10, solenoid valve Y122 is activated. Pilot pressure
is then led to directional valve 66f in each traction motor. This connects system pressure to the traction
motors displacement device, which reduces the motor displacement and results in increase of traction
motor speed.
Rear jack (option)

15 17
Conditions:
Button 15 (Up) I/O- D510X14a Y410A activated
Button 17 (Down) I/O- D510X14b Y410B activated
The rear jack is controlled by buttons 15 and 17, which energizes

solenoid valve Y410A/B. In order to protect the rear jack from
becoming bent, it is not possible to tram the drill rig unless the jack
is fully retracted. This is monitored by inductive proximity switch
B184, if the sensor is inactive, which means the support leg is down,
this will also generate a warning on the display (see right).
When double pushing button 15, the jack retracts itself automatically.
The speed of the cylinder is controlled by whether the operator has selected tramming or drilling.
(Tramming = normal peed, Drilling = rapid.)
29
Positioning
Positioning
The positioning circuit is mainly supplied with oil from pump 1. However, since the tramming circuit
is also supplied from pump 1, it is necessary to use pump 4 for positioning during tramming. Since
pump 1 is bigger and operates at higher pressure than pump 4, it means that positioning is quicker in
Drilling mode than it is in Tramming mode.
Boom and feed positioning

The positioning cylinders are controlled by pilot controlled directional valves (see figure on next
page). The pilot pressure that is used for boom positioning is generated internally in the boom
positioning block, in the same way as the pilot pressure is generated in the drilling block. This is done
via a pressure reducing valve set to 35 bar, a strainer and out to the pilot circuit. To protect the pilot
system against pressure surges, there is a pressure limiting valve set to 50 bar.
The boom lift (BL) and feed dump (FD) cylinders are equipped with internal over-center valves,
which protect the cylinders from over load and acts as load holding valves. The feed swing (FS), feed
extension (FE) and boom swing (BS) cylinders have built in double pilot operated check valves.
There is a sensor (B379) in the seat that senses whether the operators seat is occupied. The RHS and
positioning functions will not work if this sensor is not activated. The sensor sends signals via I/O
module D512 and contact X12a out to the system. This function can be bypassed by activating option
Ignore Chair Switch in menu F2
Setting 1, which is typically used
when positioning the feed above
the canopy.
Conditions, boom positioning:

Lever 35 in position a (boom lowering) D510, X8b Y426B activated
Lever 35 in position c (boom lift) D510, X8a Y426A activated
Lever 35 in position d (boom swing left) D510, X7a Y425A activated
Lever 35 in position e (boom swing right) D510, X7b Y425B activated
Conditions, feeder positioning:

Lever 36 in position a (Feed tilt/spike out) D510, X16a Y416A activated
Lever 36 in position c (Feed tilt/spike in) D510, X16b Y416B activated
Lever 36 in position d (Feed swing in) D511, X7a Y421A activated
Lever 36 in position e (Feed swing out) D511, X7b Y421B activated
Lever 36 in position g (Feed extension out) D510, X24a Y405A activated
Lever 36 in position f (Feed extension in) D510, X24b Y405B activated
35 36
g
f
a
e
1250 0240 08
d
c
30
Positioning
Pressure reducing
valve
Pump 4 during tramming/
Pump 1 during driling
Y405A/B Y421A/B Y416A/B Y425A/B Y426A/B

Figure: Positioning
Positioning during tramming

During tramming, solenoid valve Y121B is activated, flow from pump 4 is re-directed to the
positioning circuit, the pressure is limited by pressure relief valve 4c set to 230 bar.
Pump 4
P4-pos.
Y121B
4c
Figure: Positioning during tramming
31
Positioning
Track oscillation 21 22
Conditions for left track:
Button 25 deactivated I/O-D511X12a Y473 activated
Button 21 activated (Up) I/O-D510X9a Y419A activated
Button 23 activated (Down) I/O-D510X9b Y419B activated 23 24
Conditions for right track:

Button 25 deactivated I/O-D511X12a Y473 activated
Button 22 activated (Up) I/O-D510X10a Y420A activated 25
Button 24 activated (Down) I/O-D510X10b Y420B activated
Track oscillation solenoid valves Y419 and Y420 are controlled automatically (when track oscillation
is activated) via control buttons (21, 22, 23 and 24) in the cab. The oscillation cylinders are connected
hydraulically to an electric valve with spring return Y473 which is activated with button 25 on the
control panel. This valve has two positions:
Open position (floating)

When Y473 is activated, pilot pressure is delivered to the over centre valves. The ratio between
the over centre valves is 1/13, which means that 25 bar is needed for them to permit oil flow to
the cylinders connected in parallel. This position is used for tramming so that unevenness in the
ground are compensated for between the two cylinders. (See figure)
Closed position (locked)
When valve Y473 is deactivated there is no flow between the cylinders (over centre valves are not
activated). This valve position is used to ensure a stable set-up for drilling.
Over center valves
Y473
Pump 4 during tramming/
Pump 1 during driling
Y419A/B Y420A/B
Figure: Track oscillation floating
32
Oil pre-heating
Oil pre-heating
Pump 2 is also used for pre-heating the hydraulic oil when the rig is in Tramming mode. Normal
operating temperature of the hydraulic oil is 40C. Before operating the drill rig the oil should be pre-
heated to minimum operating temperature, 20C.
1 2 3 4 5
When hydraulic oil heating is selected with button 4, solenoid valve
Y121A and Y121B are activated. Solenoid valves Y120A in the 6 7 8 9 10
main valve block is also activated in order to perform pre-heating. 35 36
The oil must pass through a 1 mm restriction to build up a pressure
via pressure relief valve 4y (170 bar). The flow of pump 2 goes 11 12 19 20
13 14 21 22
through the shunt valve 4x with a pressure of 170 bar + spring 15 16 23 24
pressure (11 bar). The oil heats up to 35C, then the heating ends. 17 18 25
Note: Only works if the rig is in tramming mode.
If the temperature of the hydraulic oil is below 20C (68F), high-speed tramming can not be
activated, the warning lamp for hydraulic oil temperature is also lit on the status bar.
Y120A
4x
4y
Pump 2
Figure: Oil pre-heating
33
Drilling
Drilling
Basic conditions
The basic condition is that Drilling mode is selected. This is indicated by the LED on the button
lighting up. To activate functions such as collaring and drilling with reduced percussion power,
drilling, the compressor must be loaded (Y210). (See also the instructions regarding lever sectors.)
Hold
Z1
Z2
Z1- Controls function lock and deactivation of

function lock.
Z2- Deactivation of locked functions.
The lever sectors above are described

in more detail in the next section.
Adjustable parameters
Min current, drill feed Air flushing time
Max current, drill feed Half rod flushing, time
Min current, rapid feed Extra flushing, time
Max current, rapid feed Min air pressure
Min speed braking, forward Air pressure, drill out
Min speed braking, backward Initial collar length
Speed, calibration M4 offset
Max speed, automatic collaring Feed speed, threading
Speed drilling, forward Feed speed, unthreading
Speed drilling, backward Feed pressure forward, RHS
Feed pressure, collaring Feed pressure backward, RHS
Feed pressure, drilling Feed pressure, threading
Max feed pressure, drilling Feed pressure, unthreading
Min feed pressure, drilling Rotation speed, threading
Rotation speed, drilling Rotation speed, unthreading
Rotation pressure, jamming Feed speed, async. Threading/unthreading
Pressure decrease, free Feed Pressure Threading, Low
Frequency Lubrication, HECL-pump Rota. Pressure Threading Adapter-Rod (Y155)
Min HECL Pressure Rota. Pressure Threading Rod-Rod (Y155)
Time Before HECL Guarding Joint Closed Threshold, Threading Adapter-Rod
Timeout HECL Pressure Joint Closed Threshold, Threading Rod-Rod
Thread Greasing Spray, Pulse Duration Joint Stuck Threshold, Unthreading
Thread Greasing Spray, Start Delay Thread Check Duration
Thread Greasing Spray, Stop Delay Loosen Adapter Rod Joint Time
Min collaring time
34
Drilling
Activating the drilling function

When Drilling mode is selected, solenoid valves Y121A
and Y121B are not activated, but solenoid valve Y169 is
deactivated to let through pilot pressure to the drilling To DCT hatch, feed,
circuits. rotation circuit
De-activation of Y121A:
- It allows pump 1 pressure to connect to LS line
directly. The working pressure is limited by
pressure relief valve 4d (see figure).
De-activation of Y121B:
- The pump 4 pressure supplied to positioning
functions during tramming, is now used for rotation
function together with pump 2. This is simply to
assist pump 2 for a better rotation output. 4b
De-activation of Y169:
- Pilot pressure is now led to the feed and rotation To the main valve block
circuit via the logic valve and to the DCT circuit
(see figure).
4d
Flushing air
Conditions for flushing air:
The rig must be in drilling mode. 14 16
The drill lever is not in collaring/drilling sector.
Compressor loaded D512, X10a Y210A activated
Button 14 (reduced) D510, X18a Y116 activated
Button 16 (full) D512, X10b Y210B activated
D510, X18a,18b Y116,Y115 activated
Flushing air is also activated when moving the drill lever to collaring or drilling positions, see
paragraph Percussion in this chapter.
Flushing air modes

The flushing air is controlled by button 14 and 16. There are two flushing air modes: reduced and full
flushing air. When reduced air mode (button 14) is selected, only solenoid valve Y116 is activated.
And when full air mode is selected (button 16), both solenoid valves Y115 and Y116 are activated; at
the same time solenoid valve Y210B is also activated to engage a higher air pressure. These buttons
are also mutually exclusive.
35
Drilling
Rotation
Conditions for drill rotation:
The rig must be in drilling mode.
B118 activated Drill steel gripper arm in carousel position
Drill lever, rotation CCW D101, X9a Y102A activated
Drill lever, rotation CW D101, X9b Y102B activated
Sensor (B101) senses the rotation pressure and sends signals to the display in the cab via I/O module
D101 and contact X22. The drill rotation circuit includes functions for direction of rotation and
controls the rotation speed. The drill rotation circuit is supplied with oil by pump 2 and 4.
Sensor B118 must be activated, i.e. the RHS arm must be in the carousel.
The pilot controlled directional valve

4w works along with the shunt valve 4x
as a constant flow regulator and
provides oil to rotation motor. Valve
Y102A controls rotation CCW, and
valve Y102B controls rotation CW. The
two pressure relief valves (see figure)
control the max. pressure to the rotation
motor. Max. pressure for rotation CW is Rotation CW Rotation CCW
100 bar and for rotation CCW 160 bar. See a further description of sectors in the drilling section.
The rotation speed for drilling can be set

from menu F1 or
Drilling/Parameters/Rotation. By
changing the setting for rotation speed,
the opening position of solenoid valve
Fully open, Y102B will be adjusted thus affecting
blocks all flow the rotation directional valve 4w to let
through a higher/lower flow to the
rotation motors.
From Y102B
To the rotation motor
Pressure relief
valves
100
4x
160
4w
Pump 2
Figure: drill rotation
36
Drilling
Percussion
Conditions for percussion:
Hydraulic oil temperature at least 20 C.
B118 activated Drill steel gripper arm in carousel position
Compressor loaded D512, X10a Y210A activated
Drill lever (in collaring position) D510, X18a Y116 activated
Drill lever (in high percussion position) D512, X10b Y210B activated
D510, X18b Y115 activated
D510, X18a Y116 activated
Note: When the drill lever is moved into the collaring/high percussion position, drill feed forward and
drill rotation are also activated. Refer to their individual function descriptions in this chapter.
The impact circuit includes function for activating the DTH hammer impact mechanism and
controlling the pressure for collaring and drilling (low and high pressure). Pressure sensor B188
detects the air pressure delivered to the hammer, and it can be read in the F1 menu on the impact
pressure gauge.
To hammer
Regulating valve
B188 high pressure
From air
receiver
Y210A
Y115 Y116
To 7 bar reducing
Reduced air 7 bar
Controls the
inlet valve
Y210B
Regulating valve
Main air flow
low pressure
Impact air Impact air
valve
reduced/full high/low pressure

Figure: Low impact air
37
Drilling
Feeding
Feed, foward
Conditions for drill feed forward:
The lever is moved between 10-65% of the lever sector.
Feed forward D101, X10b Y104B activated
Feed pressure D101, X15a Y103
Conditions for drill feed backward:

Feed backward D101, X10a Y104A activated
The actuation signal for feed pressure (Y103) goes via I/O module D101 and contact
X15a.The sensor (B133) senses the feed pressure and sends signals to the display via Feed, backward
I/O module D101 and contact X4.
The feed circuit includes functions for feeding the cradle up and down the feed beam, and for stopping
the rock drill in the right position for the rod handling system to insert/remove a drill tube. The feed
circuit is supplied with oil by pump 1.
Valve Y104B (drill feed forward) and Y104A (drill feed backward) control the directional valve in the
drill feed block (see figure). The feed pressure is controlled by valve Y103. Depending on the
direction of feed, pressure relief valves are activated to limit the max. pressure for forward and reverse
feed respectively. The max. pressure for feed forward is 190 bar and 150 bar for feed backward. If
these valves should for some reason fail to work, the safety valve determines the maximum pressure.
The maximum pressure is then 210 bar for feed forward and 175 bar for feed backward.
Pilot signal from Y104B
Directional
valve
Pressure relief Safety valves

valves
B133
Y103 Figure: Drill feed
38
Drilling
Conditions for rapid feed forward:

The rig must be in drilling mode. Rapid feed,
The lever is moved between 65-100% of the lever sector. foward
Feed forward D101, X14b Y104D activated
Conditions for rapid feed backward:

Feed backward D101, X14a Y104C activated
The actuation signal for feed pressure (Y103) goes via I/O module D101 and contact
X15a.The sensor (B133) senses the feed pressure and sends signals to the display via
I/O module D101 and contact X4.
Rapid feed,
The feed circuit includes functions for feeding the cradle up and down the feed beam, backward
and for stopping the rock drill in the right position for the rod handling system to
insert/remove a drill tube. The feed circuit is supplied with oil by pump 1.
When the lever is moved between 65-100% in feed forward position or 55-100% in feed backward
position, both drill feed and rapid feed solenoid valves are activated at the same time, allowing oil
flow to the feed cylinder from two directional valves (4f and 4j).
Valve Y104C (rapid feed backward) and Y104D (rapid feed forward) control the directional valve in
the drill feed block (see figure). Depending on the direction of feed, pressure relief valves are activated
to limit the max. pressure for forward and reverse feed respectively. The max. pressure for feed
forward is 190 bar and 150 bar for feed backward. If these valves should for some reason fail to work,
the safety valve determines the maximum pressure. The maximum pressure is then 210 bar for feed
forward and 175 bar for feed backward.
Since valve Y104A and Y104B are also activated during rapid feed, the feed pressure control valve
Y103 is set to 1000mA which basically blocks all the oil flow. The feed pressure is then limited by the
two pressure relief valves for forward and reverse feed respectively.
39
Drilling
Pressure relief
valves
Pilot signal from Y104D

Pilot signal from Y104B
Directional
valve 4f 4j
Pressure relief Safety valves

valves
B133
Y103
Figure: Rapid feed
The feed pressure and speed for both drill feed and rapid feed can be set from menu
Drilling/Parameters/Feed pressure and /Feed speed.
Feed pressure: Feed speed:
40
Drilling
Threading
The threading function is the combined activation of the feed cylinder and drill rotation motor by one
lever movement. The hydraulic power to the feed function is provided by pump 1 and to the rotation
function by pump 2 with assistance from pump 4.
Conditions for threading:

Conditions for rotation:

Drill lever, rotation CCW D101, X9a Y102A activated
Drill lever, rotation CW D101, X9b Y102B activated
B101 D101, X22 Display (shows rotation pressure)
The actuation signal for rotation (Y102) goes via I/O module D101 and contact X9. The sensor (B101)
senses the rotation pressure and sends signals to the display in the cab via I/O module D101 and
contact X22.
Conditions for feed:

Feed pressure D101, X15a Y103 activated at high feed pressure
B133 D101, X4 Display (shows feed pressure)
The actuation signal for feeding (Y103) goes via I/O module D101 and contact X15a. The sensor
(B133) senses the feed pressure and sends signals to the display in the cab via I/O module D101 and
contact X4.
Feed forward is controlled by valve Y104B and feed backward by valve Y104A. Rotation CW is
controlled by Y102B and rotation CCW by Y102A. The threading function is a combination of these.
The feed pressure for threading is controlled by Y103, and the rotation pressure for threading is
controlled by Y155.
The feed pressure and speed for threading, as well as the rotation speed for threading can all be set
from menu RHS/Parameters/Threading. The rotation pressure for threading can be set from menu
RHS/Auto RHS Parameters/Rotation. (See figures below)
Feed pressure/speed, rotation speed: Rotation pressure:
41
Drilling
Threading pressure settings & threshold:

The maximum rotation pressure for threading is determined by parameter 2 (see figure below).
But when the One Hole Automatics function is activated (refer to chapter OHA), the system must
know when during threading, the rods are considered as tightened. This is done by using a threshold
value defined by parameter 4. As soon as this setting is achieved, the gripper will be moved back to the
carousel and the break out table will be opened so that drilling can be resumed.
OHA unthreading flow:

The OHA function enables the rig to drill a hole to the desired hole depth/length and then extract the
rods from the hole. The following flow describe the sequence for retracting the rods when the desired
hole depth/length is reached.
At M4 position (Fig. 1), the following sequence is to take

place:
1. The break out table breaks apart the rods
2. The upper rod unthreads until the cradle is approx. 10
cm above the M4 position
Fig. 1
At this particular position slightly above M4 (Fig. 2), the
following sequence is to take place:
1. The upper break out table closes to get a tight grip of
the rod which is being held by the grippers
2. Unthreading takes place in approx. 1 second to loosen
the adapter from the rod
Fig. 2
Note: The break out wrench clockwise twist can be
used here to assist the adapter-rod separation, if so,
option Reverse break adapter at rod extraction must
be activated in menu F2 Setting 2
Fig. 3 3. The upper break out table opens up
Now the rod is backed up to the M5 position (Fig. 3) which allows the rod to be moved back to the
carousel. But before this is to happen, the system needs to make sure that the adapter is indeed carrying
a rod. This check is done by threading the adapter into the rod again using parameter 1 (max rotation
pressure adapter rod) until it reaches a threshold value defined by parameter 3, then unthreading will
take place to thread apart the adapter from the rod in the grippers. If the adapter end is empty, i.e.
threshold not reached, the rotation unit will keep on threading until it reaches a position that is slightly
lower than M4 if nothing is detected.
It should be noticed that parameter 3 and 4 should always be set to be 4-5 bar lower than their
corresponding parameter 1 and 2. The reason is that settings 3 and 4 could never be reached if the
maximum rotation pressure setting 1 and 2 is set to be lower.
When unthreading is to take place, as soon as

the rotation pressure drops below setting 5, the
joints are considered as loosened, and the
rotation pressure must always be below setting 5 1
from this point on otherwise unthreading will be 2
stopped and break out table will start to break 3
loose the joints again. 4
5
Note: values shown above are only approximate settings
42
Drill lever sectors
Drill lever sectors

__________________________________________________________________________________________
Neutral
Actuations:
Impact air :As preset
Feed pressure :Off
Drill feed speed :Off
Rapid feed speed :Off
Rotation speed :Normally off. When
rotation is locked
Rotation speed, drilling.
Engine speed :Intermediate
__________________________________________________________________________________________
Rotation
Actuations:
Feed pressure :Off
Rotation speed :Rotation speed, drilling
Description
Rotation (Y102B) is activated.
Rotation is proportionally controlled by the lever when it is situated within 0-95% of the lever sector.
The amount of current sent to rotation valve Y102B is proportional to the lever output.
Function lock
Functions can be locked by holding the drill lever at the end position of the rotation sector (at least
95% of the sector position) for longer than 2 seconds.
Function lock is deactivated with lever buttons Z1 or Z2, or by moving the lever into a sector other
than Rapid feed forward, Rotation, neutral sector or Rapid feed backward.
If deactivated in one of the sectors for Drilling, Collaring, Rotation or Rapid feed backward, the
function corresponding to that sector is to be started. In other cases, all drill actuations are to be
stopped.
Lock is indicated. Indication is provided by a green lamp by the corresponding function on the status
bar at the bottom of the display.
43
Drill lever sectors
__________________________________________________________________________________________
Collaring
Conditions:
Compressor :Loaded
RHS arm in carousel (B118) :Activated
Cradle encoder :Calibrated
Hydraulic oil temp and filter :Ok
Actuations:
Impact air :Low air
Feed pressure :Proportional according to lever (10-80%) between
Min feed pressure, drilling and Feed pressure, collaring.
Drill feed speed (un-locked) :Speed drilling, forward
Drill feed speed (locked) :Max speed, automatic collaring
Engine speed :High
Description
This sector can only be reached from the sectors for rotation, and drilling. The sector is a combined
collaring and drilling sector enabling drilling with temporarily reduced percussion force, e.g. when
drilling through difficult formations where there is a tendency of jamming, to prevent drill bit clogging or
to make sure of the hole direction with the 1st drill rod in poor rock.
If the lever is moved quickly through the sector for collaring to the drilling sector when the One Hole
Automatics (OHA) function is activated, collaring is provided (low feed pressure (Y103) and low air
pressure (Y116)) for a distance of Initial collar length, thereafter the drilling sector conditions apply. This
distance setting is only used for the 1st drill rod and that the hole length/depth has been reset. Otherwise
from the 2nd drill rod and on, collaring is provided for the duration of Min collaring time when the OHA
function is activated, thereafter the drilling sector conditions apply.
Function lock
The function can be locked with lever button Z1 when the lever is situated in the collaring sector (10-
80% of the sector position) and deactivated with lever button Z1 or Z2.
The lock is automatically deactivated if the drill lever is moved into the drilling sector.
stopped.
Lock is indicated. Indication is provided by a green lamp by the corresponding function on the status bar
at the bottom of the display.
44
Drill lever sectors
__________________________________________________________________________________________
Drilling
Conditions:
Compressor :Loaded
Cradle encoder :Calibrated
Hydraulic oil temp and filter :Ok
Actuations:
Impact air :High air
Feed pressure :Feed pressure, drilling
Drill feed speed :Speed drilling, forward
Engine speed :High
Description
The drilling sector must only be reached via the sector for collaring.
The feed pressure (Y103) is increased to Feed pressure, drilling. The air pressure regulating valve
(Y210B) is activated so engage high air pressure.
Function lock
The function can be locked with either lever button Z1 or by holding the drill lever in the drilling
sector (80-100% of the sector position) for longer than 2 seconds.
When the function is locked, it is fully possible to shift between locked collaring and locked drilling
by moving the lever to the same sector and then release it back to neutral.
Deactivate locked functions with lever button Z1 or Z2.
stopped.
Lock is indicated. Indication is provided by a green lamp by the corresponding function on the status
bar at the bottom of the display.
45
Drill lever sectors
__________________________________________________________________________________________
Rotation + rapid feed backward
Description
This sector actuates drill rotation
(Y102B), and feed backward (Y104A)
but no percussion. And depends on
the lever position, feed backward
(Y104A) is set differently.
Conditions:
Actuations:
Feed pressure :Fixed at 1000mA
Drill feed speed :Proportional according to lever (10-55%) between
Min current, drill feed and Max current, drill feed.
:Fixed according to lever (55-100%) at Max current, drill feed.
Rapid feed speed :Fixed according to lever (10-55%) Off
:Proportional according to lever (55-100%) between Min current,
rapid feed and Max current, rapid feed.
46
Drill lever sectors
__________________________________________________________________________________________
Feed/Rapid feed forward
Description
Depends on the lever position, feed
pressure (Y103) and feed forward
(Y104B, Y104D) are set differently.
Actuations:
Feed pressure If arms not in carousel
:Fixed at Feed pressure forward, RHS
If arms in carousel
:Fixed according to lever (10-65%) at Max feed pressure, drilling.
:Fixed according to lever (65-100%) at 1000mA.
Rotation speed :Normally off. When rotation is locked Rotation speed, drilling.
During all kinds of rapid feeding (both forward and backward), the cradle starts to brake in at a
distance set by the user so that the cradle can safely reach its stop position (M positions) at an
adequate speed. The brake distance for all the stop positions can be set from menu RHS/Cradle
positions (see figure below).
The braking speed adapted for reaching

position M3 is controlled by Min speed
braking, forward, which can be set from
menu Drilling/Parameters/Feed speed. This
figure is shown in percentage which
represents how many percent of the actual
lever stroke will be implied. In other words,
the smaller this setting is, the smoother the
cradle brakes. The cradle then stops for 2
seconds at M3 if drill feed is to be continued.
Position tolerance indicates at how close to the goal movement is to be stopped, i.e. Y104 deactivated.
When feeding forwards, the cradle stops at M position Position tolerance; when feeding backwards,
the cradle stops at M position + Position tolerance.
47
Drill lever sectors
__________________________________________________________________________________________
Feed/Rapid feed backward
Description
Depends on the lever position, feed
backward (Y104A, Y104C) are set
differently.
Actuations:
Feed pressure :Fixed 1000mA
Rotation speed :Normally off. When rotation is locked Rotation speed, drilling.
During all kinds of rapid feeding (both forward and backward), the cradle starts to brake in at a
distance set by the user so that the cradle can safely reach its stop position (M positions) at an adequate
speed. The brake distance for all the stop positions can be set from menu RHS/Cradle positions.
The braking speed adapted for reaching position M4, M5 and M6 is controlled by Min speed braking,
backward, which can be set from menu Drilling/Parameters/Feed speed. The smaller this setting is,
the smoother the cradle brakes.
48
Drill lever sectors
__________________________________________________________________________________________
Threading
Actuations:
Feed pressure :Feed pressure, threading
Drill feed speed :Feed speed, threading
Rotation pressure :Rota. Pressure Threading
Rod-Rod (Y155)
Rotation speed :Rotation speed, threading
Description
The feed pressure/speed for threading, and the rotation speed for threading can all be set from menu
RHS/Parameters/Threading.
The rotation pressure for threading can be set from menu RHS/Auto RHS Parameters/Rotation.
__________________________________________________________________________________________
Unthreading
Actuations:
Feed pressure :Feed pressure, unthreading
Drill feed speed :Feed speed, unthreading
Rotation speed :Rotation speed, unthreading
Description
The feed pressure/speed for threading, and the rotation pressure for threading can all be set from menu
RHS/Parameters/Threading.
49
Drill lever sectors
__________________________________________________________________________________________
Rotation back
Actuations:
Feed pressure :Off
Rotation speed :Rotation speed, unthreading
__________________________________________________________________________________________
Indicator positions on the feed beam
M1 Cradle in forward position

M2 Adapter/tube in breakout position
M3 Rapid feed stop forward
M4 Tube/tube in breakout position
M5 Tube in magazine position
M6 M5 M4 M3 M2 M1 M6 Cradle in back position
M7 Upper drill support can close
Feed position settings can be changed from menu RHS/Cradle positions. (See figure below)
M1: The cradle is in its forward position. Drilling is stopped at this position.
M2: The adapter/tube joints are in position for breakout.
M3: Rapid feed stop forward, at a position above the breakout table.
M4: The tube/tube joint are in position for breakout.
M5: The tube is in position to be inserted into the RHS magazine.
M6: Feed stop backward, at a position above the RHS magazine, but before mechanical stop.
M7: This is the position where the upper drill steel support, that guides the tube, can close when
drilling on the first rod. I.e. the cradle has moved so far down that the hammer has passed the
upper drill steel support.
50
Drill lever sectors
__________________________________________________________________________________________
Extraction 3
During manual drilling, the feed stop function (button 3) allows the cradle to stop at the
feeder positions for unthreading the upper and lower rod joints, i.e. indicator positions M4
and M5.
If the function is not activated, the cradle ignores positions M4 and M5, and stops directly at M6, so
that a new tube is ready to be transferred into the drill center.
Condition:
Feed stop button (3) : Activated
Drill lever : In sector: Feed/Rapid feed backward or Rotation + rapid feed backward
Actuations:
Impact air : As preset
Feed pressure : Fixed at 1000mA
Drill feed speed : Proportional according to lever (10-55%) between
Fixed according to lever (55-100%) at Max current, drill feed.
Rapid feed speed : Fixed according to lever (10-55%) Off
Proportional according to lever (55-100%) between Min current, rapid
feed and Max current, rapid feed.
Rotation speed : Normally off. When rotation is locked/on Rotation speed, drilling.
Engine speed : Intermediate
51
Anti-jamming protection
Anti-jamming protection
General
The anti-jamming protection is an automatic monitoring function that must always be active during
drilling. The anti-jamming protection is activated by high rotation pressure (B101).
If the rotation pressure exceeds a preset value Rotation pressure, jamming, the cradle is moved
backward until the rotation pressure falls below Rotation pressure, jamming Pressure decrease, free.
When drilling is restarted after jamming, collaring is to be initiated before ramping up to full drilling.
The anti-jamming function is activated at all locked drilling.
Function
When the anti-jamming protection is activated, the cradle must always reverses for at least 1 second,
and the following conditions apply while reversing. If the drilling does not un-jam within 8 seconds,
all drilling functions will stop (conditions as the neutral sector).
Condition:
Compressor : Loaded
RHS arm in carousel (B118) : Activated
Cradle encoder : Calibrated
Hydraulic oil temp and filter : Ok
Actuations:
Impact air : High air
Feed pressure : Fixed at 1000mA
Drill feed speed : Speed drilling, backward
Rapid feed speed : Off
Rotation speed : Rotation speed, drilling
Engine speed : High
Recovery
When the jamming conditions cease, the following occurs, depending on the drill sector that is active:
Drilling sector
Collaring is started. Collaring feed pressure (Y103) and low impact air (Y116) will be activated
for 6 seconds followed by the conditions for the drilling sector.
Sector for collaring

Switches directly to collaring feed pressure (Y103) and low impact air (Y116), see description of this
sector.
52
Air system
Air system
Air system general
Compressed air is used for the following rig functions besides percussion:
Flushing air: Used to transport cuttings from the hole up to the surface. Reduced flushing is
primarily used during collaring and drilling in porous or poor rock to prevent the air from
damaging the walls of the hole.
HECL, DTH hammer lubrication system
Spray greasing system (option), see description under chapter Options.
DCT, dust collector
Extra air-outlet
Watermist system (option), see description under chapter Options.
HECL, DTH hammer lubrication system

Function
The HECL pump (Y165) is a hydraulic driven lubrication pump that starts pumping as soon as air
flushing is turned on. The pump receives pulses from the I/O module (40-60 pulses/min), which is set
by Frequency Lubrication, HECL-pump. Lubrication oil is then led through a hose to the rotation
unit, where the lubricating oil and air is mixed.
The HECL-pump can be activated manually from the menu system. If Activate HECL-pump manually
is selected in quick menu F2, the HECL-pump starts pumping with pulse at the set frequency for the
set time (max. 90 min).
The pressure after the HECL-pump is monitored during drilling by a pressure sensor (B369). If the
pressure, after the period Time before HECL Guarding, is less than Min HECL pressure and lasts for a
longer period than Timeout HECL pressure, drilling is stopped. A warning message is displayed.
Lever sensor (B380) monitors the oil lever in the HECL tank, a warning message is displayed when
low level occurs.
The HECL lubrication settings can be set from menu Drilling/Parameters/Lubrication.
CAN
The actuation signal for the HECL-pump (Y165) goes via I/O module D512 and contact X14a. Sensor
(B369) senses the HECL pressure and sends signals to the display in the cab via I/O module D512 and
contact X21, where this value can be read in menu F1. Sensor (B380) senses the oil level and sends
signals to the display in the cab via I/O module D512 and contact X18a, in case of low level, the
signal becomes low.
53
Air system
DCT, dust collector

System start-up
The DCT hatch (Y253) must be closed and the fan motor (Y250) must be off after system start-up.
The fan motor (Y250) gets activated when Drilling mode is chosen.
DCT On
Conditions:
DCT on button 12 activated.
Drill lever in sector Collaring or Drilling. 12
The button is a toggle switch: DCT ON/DCT OFF. If the function DCT ON is chosen, the
valve for DCT hatch (Y253) gets activated when the above conditions are met.
DCT filter cleaning

DCT filter cleaning is also activated when the above conditions are met. The filter cleaning valves
(Y251A-D) quickly open and close alternately to create pressure shocks of compressed air to clean the
filters.
The length of each cleaning pulse is set by Time Clean Pulse, and the time between each pulse is set
by Pause time. The DCT pulse settings can be found in menu Drilling/DCT/Parameters.
54
Air system
DCT filter after-cleaning

Condition:
DCT hatch closed (Y253 off) after it has been open for at least 10 sec.
The air supply to the DCT is limited to 7 bar by a pressure reducing valve and protected by an 8.5 bar
safety valve. All of the cleaning valves (Y251A, Y251B, Y251C and Y251D) get activated
simultaneously for Number of After Clean Pulses times with Pause time seconds pause between the
pulses. The after-cleaning will be interrupted if drilling is to start before the after-cleaning is done.
DCT hatch close

To tank
Safety valve
Y251A Y251B Y251C Y251D
Main air flow

Pressure reducing valve
Figure: DCT after cleaning
CAN
The actuation signal for the DCT motor (Y250) goes via I/O module D510 and contact X15a.
The actuation signal for the DCT hatch (Y253) goes via I/O module D510 and contact X15b.
The actuation signal for filter cleaning (Y251A) goes via I/O module D510 and contact X11a.
The actuation signal for filter cleaning (Y251B) goes via I/O module D510 and contact X11b.
The actuation signal for filter cleaning (Y251C) goes via I/O module D510 and contact X12a.
The actuation signal for filter cleaning (Y251D) goes via I/O module D510 and contact X12b.
Extra air outlets

The extra air outlets are limited to 7 bar by the pressure reducing valve.
55
Calibration sensors
Calibration sensors
The feed beam has two calibration sensors. The upper sensor
(B127) calibrates the position of the rotation unit cradle at
startup. The lower sensor (B122), along with the upper sensor,
read off the position of the rotation unit cradle during drilling.
These sensors have constant fixed values and can only be
calibrated in the downward direction with an adequately low
speed (the maximum speed is 10 cm/s). Should these values B172
deviate during drilling, the system automatically sets the fixed
value when the cradle is in these positions. This is to prevent
deviation from becoming too large. If the deviation is greater
than 2 cm, this is entered into the event log. And if the Calibration sensor
B127
deviation increases to 5 cm, a warning symbol is shown on the
display.
The position of the calibration sensors is measured when the

cradle is in its top position (mechanical stop) in centimetres
from the lower edge of the calibration plate to the centre of
each sensor.
Sensor B172 is located on the top pulley wheel. The sensor

sends a number of pulse signals when the pulley wheel is
turning. This provides information on where the cradle is on
the feed beam.
CAN
Sensor B172 senses where on the feed beam the rotation unit
cradle is. It sends pulse signals to I/O module D103 and
contact X5 to the display in the cab. B127 and B122 send
signals via I/O module D103 contact X12 and I/O module
D102 contact X7 respectively.
Calibration sensor
The menu below shows cradle position on the feed beam and B122
the distance to the upper and lower calibration sensors. This
menu can be found in RHS/Sensors/Calibration.
56
Length measurement
Length measurement
Data from pulse sensor B172 (see previous chapter) is processed to measure hole length/depth, with a
stop signal for drilling sent when the set length/depth is reached. The number of drilled metres is
logged. The average drill rate/percussion minutes is also shown in the menu system. The hole
length/depth can be reset from the menu system, press the button on the display or the keypad on the
arm rest.
For each drill hole:

Desired hole depth (0-99.9 m)
Current hole length (0-99.9 m)
Current feed angle (0-360)
Drill rate, entire drill hole (0-99.9 m/min)
Drill rate, accumulated average (0-99.9 m/min)
System startup
The pulse sensor B172 (see figure under chapter Calibration sensors) is uncalibrated at startup. The
current hole depth is stored so that the system can be restarted with the drill bit in the same position as
when the system was stopped.
Initial calibration of the length sensor

Calibration sensor B127 for the pulse sensor is located just below M4. This means that the sensor can
be activated if the length positions are calibrated before the drill bit reaches the rock. Before proximity
sensor B127 is activated for the first time, the feed speed is limited for more accurate calibration. If
Emergency mode, Length Sensor is selected from the F2 menu, calibration is ignored.
Before initiating calibration, the cradle must be moved to a position which is approximately 10 cm
above sensor B127. However, backing up would not work if the drill supports are not manually
opened since the hammer needs to pass through them. This can be done by moving lever 36 (see
illustration on next page) backwards to first open the upper support, then hold the lever in position and
push the top button to open the lower support.
Conditions for measurement

Pulse sensor B172 must be calibrated
Hold depth counter must be reset
Drilling in downward direction
Percussion activated M6 M5 M4 M3 M2 M1
Start of measurement
The hole depth meter starts to run when the already reached hole length/depth is reset. If the hole
depth counter has been blocked, it is restarted when the lower break out table is opened.
Blocking measurement
The hole depth counter can be stopped during the rod adding phase. It is stopped when the drill lever is
activated for unthreading. The desired hole depth/length can be changed at any point during the
drilling phase.
Conditions for blocking

Lower break out table closed
Drill lever activated for unthreading
Backing up
The hole depth/length is locked while the cradle backs up. The system displays the position of the drill
bit.
57
RHS, Rod handling system

General
The functions for the various rod handling movements are controlled manually with the drill levers in
the cab (see image of levers) or automatically by pressing the RHS button on the drill panel in the cab.
All actuation signals go via I/O modules out to the rod handling system. There are a number of sensors
on the feed beam that then detect the activities in the system and send signals via I/O modules to the
display in the cab. (See the explanation of how the sensors work later in this chapter RHS sensor
summery.)
Left control lever (lever 35) Right control lever (lever 36)
Conditions for RHS functions:

The rig must be in drilling mode
The operator in seat
There is a sensor (B379) in the seat that senses whether the operators seat is occupied. The RHS and
positioning functions will not work if this sensor is not activated. The sensor sends signals via I/O
module D512 and contact X12a
out to the system. This function
can be bypassed by activating
option Ignore Chair Switch in
menu F2 Setting 1.
System pressure
The hydraulic power is supplied from pump 1 and is limited to 200 bar by a pressure reducing valve.
Some functions have individual pressure reducers to further limit the pressure. (See hydraulic
diagram)
58
Drill steel support & Break out table

Mode changing
Since the drill steel support and break out jaws are all controlled by the same 1 2 3 4 5
lever 36 on left control panel, it is therefore important to know which mode
(drill steel support/break out jaws) the lever is operating in. The operating
mode is indicated by the lamp on button 3 and it can even be manually 6 7 8 9 10
controlled by the same button. 35 36
During normal drilling, the system automatically detects the operating mode
11 12 19 20
of the lever in order to make the RHS process simpler for the operator. This
is done by enabling the automatic switching option in menu F2 Settings 2. 13 14 21 22
(See figure below) 15 16 23 24
17 18 25
When this option is enabled, the lamp on button 3 is automatically indicates
the operating mode according to the following conditions:
Condition: Mode:
drill lever in Drilling sector Drill steel support active
semi-auto breaking activated Break out jaws active
(lever 36 to the right with top button pushed)
3
Drill steel
support mode
Break out jaw

mode
Drill steel supports

Lever 36 controls solenoids valves Y361 (upper support) and Y350 (lower support) for opening and
closing the drill steel supports. The actuation signal for the upper drill steel support (Y361) goes via
I/O module D103 and contact X9. And the actuation signal for the lower drill steel support (Y350)
goes via I/O module D103 and contact X10. The cylinder speed is limited by two flow restrictors for
each drill steel support.
Break out table

Lever 36 also controls solenoid valves Y356 (upper jaw) and Y354 (lower jaw) for opening and
closing the break out jaws. The actuation signal for the upper break out jaw (Y356) goes via I/O
module D103 and contact X24. And the actuation signal for the lower break out jaw (Y354) goes via
I/O module D103 and contact X15. The pressure to the break out jaws is limited by a pressure
reducing valve to 140 bar for each break out jaw.
59
The break out wrench is controlled by lever 36 independent of the lever mode when moving the lever
to the right with the top button pushed. The actuation signal for the break out wrench (Y352) goes via
I/O module D103 and contact X14. The cylinder speed is limited by two flow restrictors.
Break out table emergency mode

During usual break out sequence, the upper break out claws only twist in the anticlockwise direction.
In order to be able to twist the upper break out claws in the opposite direction, the break out table
emergency option can be activated in menu F2 Settings 1.
This is typically used when the adapter and the drill tube tension
become over tightened during drilling and the separation
between the adapter and the drill tube becomes difficult at
the M5 position. With this option activated, unthreading
(anticlockwise rotation) with the drill lever and break out
wrench clockwise with lever 36, should be activated at the same time. In other words, instead of
having only the rod grippers holding the tube, the tube needs to be fed into the upper break out claws,
so that the upper break out claws can assist the separation by turning the tube in the opposite direction.
This will lead to that less torque is needed to unthread the adapter from the tube.
Break out Break out

wrench wrench
clockwise anticlockwise
Carousel rotation
Conditions for carousel rotation:
The rod gripper arms must be in drill center position or in the middle position, i.e. sensor
B120 or B119 activated.
Carousel rotation is controlled by valves Y303A and B. Valve Y303A controls rotation clockwise and
valve Y303B rotation anticlockwise. Two throttle valves limit rotation speed. The actuation signal for
rotation goes via I/O module D102 and contact X6. Sensors detects whether rotation is clockwise or
anticlockwise. Sensor B183 detects anticlockwise rotation and sends signals via I/O module D102 and
contact X11b to the display in the cab. Sensor B182 detects clockwise rotation and sends signals via
I/O module D102 and contact X11a.
60
RHS arm transfer and gripper rotation

The RHS cylinders are controlled by the solenoid valves Y301A and Y301B. Y301A moves the RHS
arm to the carousel and Y301B moves the arm back to the drill centre. There is a pressure reducing
valve that limits the maximum pressure to the tube transfer cylinders to 100 bar, and there are two
throttle vales that control the cylinder speed. The actuation signal for arm transfer goes via I/O module
D103 and contact X8.
Sensors (B118, B119 and B120) detect where the RHS arm is situated at. Sensor B118 senses whether
the arm is in the carousel and sends the signal via I/O module D102 and contact X17a; sensor B119
senses whether the arm is in the middle position and sends the signal via I/O module D102 and contact
18a; sensor B120 senses whether the arm is in the drill center and sends the signal via I/O module
D102 and contact X17b.
When sensor B119 is activated, the arm transfer is then stopped for approx. 3 seconds, where during
the time gripper rotation will take place. The gripper rotation is controlled by solenoid valves Y311A
and Y311B. Y311A rotates the gripper from facing the drill center to facing the carousel, and Y311B
reverses the rotation. There are two throttle vales that control the cylinder speed. The actuation signal
for gripper rotation goes via I/O module D103 and contact X16.
Y352B
Y300 Y361B Y350B

Y352A
Y356B
Y310 Y356A
Y311B Y303B Y354B Y357B
Y301B Y354A Y361A Y350A Y357A

Y301A Y311A Y303A
Figure: RHS block
61
RHS emergency mode

It is always difficult to predict which sensor might fail during operation. In order to make sure that the
operator can still have full manual control of the rig if the mid-position sensor B119 or the gate sensor
B178 fails, the following measures can be taken in order to force-rotate the rod grippers and force-
open the magazine gate.
To force-rotate the rod grippers with the lever 35:

Enable the RHS emergency option in menu F2 Settings 1
Activate the gripper emergency button 9 on the right control panel
To force-open the magazine gate:

Enable the RHS emergency option in menu F2 Settings 1
Activate the gate emergency button 8 on the right control panel
Gripper
rotation
clockwise
Gripper
rotation
anticlockwise
9 8
62
Rod grippers
The gripper claws are controlled by valves Y300 and Y306, which are controlled with the lever 35 on
the left control panel. (See figure of drill levers)
Open gripper claws

The gripper claws are opened by pressing the lever button on lever 35, the button needs to be held in
order to keep the claws open. Valve Y300 controls the opening of the gripper claws, and the actuation
signal goes via I/O module D102 and contact X10a.
Loose grip
Conditions for loose grip:
RHS arm in drill center position (sensor B120 activated)
RHS lever 35 moved back to neutral position.
When transferring a tube to the drill center, as soon as the drill center position is reached and RHS
lever 35 is moved back to the neutral position, the gripper status switches from tight grip to loose grip
automatically. Loose grip is controlled by valve Y306 and a pressure relief valve that limits the
pressure to 10 bar. The actuation signal for loose grip goes via I/O module D102 and contact X24a.
Tight grip
Tight grip is the normal state of the grippers. None of the solenoid valves are activated which results
in that the system pressure at 200 bar, is acting to keep the grippers closed. To switch from loose grip
to tight grip while the rod grippers are in the drill center, hold RHS lever 35 in backward position.
Suction hood
Solenoid vales Y357A and Y357B raise and lower the suction hood. A pressure reducing valve limits
the maximum pressure to 40 bar for suction hood down. The output signal goes via I/O module D103
and contact X7.
63
RHS sensor summery

There follows a brief description of how the sensors on the D65s work:
B118 This sensor detects when the rod

handing arm is in the carousel. This sensor or
B119 must be activated to enable percussion
during drilling.

handling arm is in the middle position. This
sensor must be activated to enable gripper
B172
rotation. Percussion can also be enabled
when the arm is in this position.
B127
handling arm is at drill centre.
B182 is activated when the carousel has

rotated towards the grippers and has stopped
in the correct position for the removal of a
drill tube to drill centre.
B183 is activated when the carousel has

rotated away from the grippers and has
stopped in the correct position for the return
of a new drill tube from drill centre to the
carousel.
B122 is a calibration sensor that, along with B118

B127, detects where on the feed beam the
B120
rock drill cradle is during drilling. The sensor
has a constant value, and should the value
deviate during drilling the system
automatically sets the constant value.
B122
B182
B127 is a calibration sensor that detects the B183
position of the rock drill cradle. This sensor
has a constant value and can only be
calibrated in the downward direction.
B172 This sensor detects where the rock drill

cradle is on the feed beam. (For more
information, see under Calibration
sensors.)
64
One hole automatics (OHA)

Function
The OHA function enables the rig to drill a hole to the desired hole 6 8 10
depth/length and then extract the rods from the hole. The function can be 5 12
activated with button 2, under the condition that the rig is in drilling mode. 4 13
7 9 11
3 14
Start of OHA
The OHA can be started in two ways in a new hole: 2 38 15
1. Drilling is started with a manual collaring and then the OHA 1 16
button is pressed during locked drilling, auto-sequence starts.
2. Drilling is started with the OHA button, then the auto-sequence
starts with an initial collaring before ramping up to drilling.
When the OHA function is active, it is indicated by a green lamp on the

status bar at the bottom of the display.
Stop of OHA
The auto-sequence can be stopped with one of the drill lever buttons or with the OHA button.
Restart of OHA
If OHA stops or is stopped during drilling, it can be restarted and the auto-sequence continues from
where it was stopped. But if the auto-sequence was stopped when adding or extracting a tube, the
operator must manually ensure that both thread joints are together, that the RHS arms are in the
carousel and that the break out claws are opened before OHA can be started again.
During the drill phase OHA can be started in two ways:

1. Drilling is restarted manually and the OHA button is pressed during locked drilling, auto-
sequence resumes.
2. Drilling is restarted with the OHA button, then the auto-sequence is resumed with an initial
collaring before ramping up to drilling.
Drill out when M1 or the desired length/depth is reached

When position M1 is reached during OHA, drilling is stopped according to the following:
1. When M1 is reached, drill feed is stopped.
2. The cradle backs up to M2 position.
3. Rotation is air flushing remains on until the air pressure has dropped to Air pressure, drill out,
set via menu Drilling/Parameters/Others. If the pressure is not reached within 5 seconds,
rotation and air flushing are turned off and the RHS sequence is to be continued.
4. If Extra flushing is selected in menu F2 (see next chapter), rotation is turned off and air
flushing is on for Extra flushing, time. Watermist is not on here.
65
Options
There are a few options that can be selected in menu F2 Setting 1 when using OHA.
The number behind the

option indicates for how
many rods the function is to
be used. E.g., if the number
behind Half rod flushing
shows 2, then half rod
flushing is going to be
carried out on both rod 1 and
rod 2.
Automatic close of drill support:

With this option activated, the OHA automatically closes the
lower upper drill steel support, the upper drill steel support is
closed as soon as the cradle has passed position M7, so that the
drill tubes can be correctly guided.
This option can be disabled typically when drilling in fractured

rock where cleaning is often required.
Final air blow before removal:

When the hole is drilled to the desired hole length, air flushing (no water mist) remains active for an
adjustable period of time, set by Air flushing time via menu Drilling/Parameters/Timers.
Extra flushing:
During the drill out sequence the air flushing can be on for extra period of time, set by Extra flushing,
time via menu Drilling/Parameters/Timers.
Cleaning:
If cleaning is active, extra flushing is then disabled. When the drill out pressure is reached the
following sequence is to take place in order to clean the hole:
1. Rotation and high air is on during the sequence. Water mist is not active here.
2. The cradle is moved backward with slow feed speed to M3.
3. When M3 is reached the cradle is moved backward with fast feed speed.
4. When M6 is reached the cradle is moved forward to M3 with fast speed.
5. When M3 is reached the cradle is moved forward to M2 with slow speed.
Half rod flushing:

This function can also be active if extra flushing or cleaning is active. If water mist is active it is on
here. The function is that when drilling is stopped in the middle of a tube, rotation and air flushing
remains on for Half rod flushing, time, set via menu Drilling/Parameters/Timers, and when the time
has expired drilling is restarted.
66
Automatic rod extraction:

This option can be activated in three modes:
Rod extraction only
Rod extraction with rotation
Rod extraction with rotation and air
When this option is active, the OHA automatically extracts the rods to M4 position. However, this
setting does not apply when extracting the last rod, otherwise the hammer might collide with the drill
steel support. Therefore it is possible to change the M4 position for the last rod by setting the M4 offset
via menu Drilling/Parameters/Others.
If the options rotation and air flushing are selected, these functions will be turned off as soon as M4
position is reached.
Note: When extracting the last rod and if air flushing is selected, air flushing needs to be stopped
earlier than all the other rods since flushing around the hole would lead to damage of the hole.
Therefore it is possible to change the stopping position for the last rod by setting the Distance from M4
for air off via menu Drilling/Parameters/Others.
The automatic rod extraction option can be

disabled typically when drilling in fractured rock
when the operator would prefer to manually extract the rods.
Summery of error messages during auto RHS

Error type:
System error Internal error in the RCS, system, e.g. corrupt memory or general
hardware problem, i.e. mechanic, electric, electrical or hydraulic.
Setting error The rig is not set correctly. An invalid, corrupt and faulty
parameter file read.
Error messages during both extraction and threading:
Text on display: AutoRhs Error: Time-out in operation

Error classification: System error/Setting error
Description/Cause or error:
The actual operation is taking too long time. E.g. If the cradle during rapid feed does not reach a
certain position within a reasonable time, or if it takes too long time to move the RHS arms. Basically
if the OHA does not receive replies from the RHS system or from the break out table quickly enough.
Text on display: AutoRhs Error: Break out table disabled

Error classification: System error
It occurs when the OHA has asked the break out table to do something (open or close the break out
jaws, break loose) and the break out table reports that for some reason the action could not be done.
Text on display: AutoRhs Error: Cradle Positioning Failed

The system has been unable to move the cradle to the indicated position.
67
Text on display: AutoRhs Error: Arms moved to drill center (risk for collision with cradle)
One of the sensors B119 or B120 indicates that the RHS arms are situated in the drill center or that
they are on the way there, at a time point where the arms are not supposed to be there. Probably due to
a sensor failure.
Text on display: AutoRhs Error: Unable To Open Adapter Rod Joint

The system is unable to unthread the joints of the adapter and the tube despite of repeated attempts.
Possible causes: worn break out jaws, oil on the rods, badly lubricated threads
Text on display: AutoRhs Error: ArmsToDrillCenter Order rejected

OHA has sent an order that the RHS arms should be moved to the drill center but received instead a
reply that the order has been rejected. This can be caused by that the cradle is located too far down
(there are parameters that control how high up the feed the cradle must be so that the RHS arms can be
moved to the drill center).
Text on display: AutoRhs Error: Upper thread end-point passed

Error when threading together the upper joints (adapter and tube): the cradle has passed the position
where rotation pressure is supposed to increase without it being done.
Text on display: AutoRhs Error: Lower thread end-point passed

Error when threading together the lower joints (joints inside the break out jaws, these are tube-tube
joints when adding rods and adapter-tube joints when extracting rods): the system has passed the
position where rotation pressure is supposed to increase without it being done.
Text on display: AutoRhs Error: Gripper Order(s) rejected

OHA has sent an order that the grippers should be open/closed or put into guide mode, but the order
has been rejected by the RHS system.
Text on display: AutoRhs Error: ArmsToMiddlePosition Order rejected

OHA has sent an order that the RHS arms should be moved to the middle position (B119), but
received instead a reply that the order has been rejected.
68
Text on display: AutoRhs Error: Rotation pressure threshold exceeded at unexpected cradle
position
During threading the system checks at which position the threading pressure increases. When
threading together the joints of two tubes, it is expected that the rotation pressure would increase when
approaching position M4. When threading together the joints of the adapter and the tube during
extraction, it is expected that the rotation pressure should increase when approaching position M2. If
during threading the rotation pressure increases even though the cradle is far away from the position
expected, then this error is reported.
Error messages only during threading:
Text on display: AutoRhs Error: Unable to fetch rod from magazine

Unable to fetch rod from the magazine. This is usually caused by there has been some error in the
RHS system and it is not ready, e.g. the RHS arms are situated at an unknown position and therefore it
can not be moved. If an error occurs when moving the rod from the magazine to the middle position,
then this message is displayed when the system is trying to move the rod from the middle position to
the drill center.
Error messages only during extraction:
Text on display: AutoRhs Error: Unable To Open Rod Rod Joint

The system is unable to unthread the joints of the upper and lower rods despite of repeated attempts.
Possible causes: worn break out jaws, oil on the rods, badly lubricated threads
Text on display: AutoRhs Error: Unable to return rod to magazine

The OHA system is waiting for that the rod should be moved from the middle position to the carousel,
but it receives a reply that this order could not be done. It could be that the system was not able to
rotate in an empty compartment to put the rod in (sensor failure).
Text on display: AutoRhs Error: No reattempts left

Repeated attempts to unthread the joints of the rods has been carried out, but it is always the wrong
joint (adapter tube) which goes up instead. Now there is no attempts left.
Text on display: AutoRhs Error: Cradle has reached M4 and no threading pressure is detected,
when rethreading (after unthreading failure)
If the system discovers that a wrong joint has been unthreaded (adapter tube instead of tube tube),
then it will re-thread the joints back in together and try again. If the system during the re-threading
process (adapter tube) passes M4 with a too long distance without that the rotation pressure has
increased, then this error is displayed.
69
Error messages during OHA which stops on-going drilling or extraction:
Text on display: Max rod add time exceeded

The maximum time to thread in a rod has been exceeded.
Text on display: Max rod extraction time exceeded

The maximum time for picking up a rod has been exceeded.
Text on display: Auto Rhs Error: Cradle Positioning Failed

The cradle does not reach the desired position.
Text on display: Low flushing pressure

Error classification: Setting error
The air pressure is under the preset minimum level.
Text on display: No recover from jam

Error classification: Due to difficult drilling conditions
The system could not come out of anti-jamming.
Text on display: Cradle can not be returned

The cradle is not moving when backing up.
Text on display: Gripper arms are not in carousel

The gripper arms are not in the magazine (or in the middle position) when they are expected to be
there.
70
I/O Module, CAN bus
I/O Module, CAN bus

General
The CAN bus system comprises a CAN loop that transmits information between the display in the cab
and the function blocks. The CAN loop is connected to a number of I/O modules and other modules.
These modules have a number of contacts that act as inputs and outputs. These modules and contacts
are activated differently depending on the actuation signals and what sensor information is sent.
Note: Information can pass an I/O module without this been activated. There are several modules on a
CAN loop and each module has a specific address, as does the information. Information sent for I/O
module three in the series will simply pass the two first modules to then be accepted by the third
module, which has the correct address code.
Application Module
X3 D100
MODULE STATUS
add:0
CAN1 S TATUS
CAN1 V +
LAN LINKE D
LAN ACT IVE
RE MOTE CONN.V.
X4
CAN2 S TATUS RRA S TAT USS TATUS
CAN2 V +
X4
X2
X3
Display IO IO
module D501 Module X1 Module X1
add:0 +5 +5 +5
+24
+5
+24
+24 STATUS +24 STATUS
X25 X25
X1 X19 X1 X19
X7 X13 X7 X13
X2 X20 X2 X20
X3
D101 X8
X9
X14
X15
X21 X3
D510
X8
X9
X14
X15
X21
X4
add:0 X10 X16
X22 X4
add:0
X10 X16
X22
X5 X23 X5 X23
X11 X17 X11 X17

X6 X24 X6 X24
X12 X18 X12 X18
X19 X19
Bom joint IO
D500:1 D500:2 angle sensor Module X1
X3 add:0 add:1 X4 X3
+5 +5
D170 X1
+24
X25
STATUS +24
X19
X7 X13
add:2 X2
X8 X14
X20
Left D511
X3 Right
X3 X21
X4 X4 X9 X15
Inclinometer
X4 X22
add:1
Lever module Lever module X5
X10 X16
X23
feed angle X3 X6
X11
X12
X17
X18
X24
D171
add:1 X19
X4 IO
IO Module X1
Module X1 X1
+5
+24
X25
STATUS
+5
+24
X19
X7 X13
+5 +5 X2 X20
+24 STATUS +24
X25 X8 X14
X1
X2
X7 X13
X19
X20
X3
D512
X9 X15
X21
X4 X22
X8 X14 add:2
D102
X10 X16
X3 X21
X5 X23
X9 X15 X11 X17
X4 X22
X5
add:1 X10 X16
X23
X6
X12 X18
X24
CAN 1/Upper CAN X6

X11
X12
X17
X18
X24
X19
CAN 2/Lower CAN
X19 Option GPS
IO campass
Module X1
X1
+5
+24
X25 STATUS
+5
+24
X19
D535
X7 X13
X2 X20
X8 X14
X3
X4
D103 X9 X15
X21
X22
X5
add:2 X10 X16
X23
CAN/J1939
X6
X11
X12
X17
X18
X24
Gateway X3
X19
D530
X2
ECM
71
I/O Module, CAN bus
Application module
The application module is the module that resides the most computer power. It handles all the
calculations needed by the system with inputs from different CAN modules; sends out information to
the CAN modules for execution; and send out information to the display module for visual
presentation.
Connectors: Connector functions:
X1 :Power supply 24V

X2 :CAN (Lower CAN Communication)
X3 :CAN (Upper CAN Communication)
X1
MODULE STATUS
X2 X3 X4 X5
LAN LINKED
X4 :CAN (Upper CAN Communication)
CAN1 STATUS
CAN1 V+
LAN ACTIVE
REMOTE CONN.V.
X5 :Address plug
CAN2 STATUS
CAN2 V+
RRA STATUSSTATUS
X6 :COM (Ex. GPS)
X7 :USB
X8 :USB (Not in use)
X8 X6 X7 X9 X9 :Not used for SDE applications
Diodes:
Only the diodes on the left side are used:
MODULE STATUS (Green)
- Start up: Flashes 2 times/Second
- CAN Communication stable: Flashes 1 times/Second
- No communication or booting up: Flashes 5 times/Second
CAN1 STATUS (Upper CAN/CAN 1)
- Flashes red: When CAN communication is established
- Black: When no CAN communication is established
CAN1 V+ (Upper CAN/Can 1 power)
- Shining firmly green: CAN power is established
- Black: No CAN Power
CAN2 STATUS (Lower CAN/CAN 2)
- Flashes red: When CAN communication is established
- Black: When no CAN communication is established
CAN2 V+ (Lower CAN/Can 2 power)
- Shining firmly green: CAN power is established
- Black: No CAN Power
72
I/O Module, CAN bus
I/O modules
The I/O module is an Input/Output module (I/O = Input/Output) and its purpose is to steer out valves
etc. (output) and receive signals from sensors (input).
All inputs are converted in the I/O module to different CAN messages (computer messages) and are
then handled by the CAN system. And the outputs are converted from CAN messages (computer
messages), that are coming from the CAN system, to for example a digital output.
All connections except analogue in/power supply/CAN and address, are controlled by the software. In
other words the software decides how each connection is configured, e.g. digital out, digital in, PWM
and encoder in.

+5
+24
X25
STATUS
+5
+24 X1 :CAN bus
X1 X19
X19 :CAN bus or end plug
X7 X13
X2 X20 X13 :Address plug
X3
X8 X14
X21
X25 :Supply voltage, module
X9 X15
X2, X3, X4, X20, X21, X22 :Analogue inputs
X4 X22
X5, X6, X7, X8, X9, X10, X11, X12 :Configurable connections
X10 X16
X5 X23 X14, X15, X16, X17, X18, X23, X24 :Configurable connections
X11 X17
X6 X24
X12 X18
Status LED:
The I/O module has an STATUS LED indicating the following:
When the system starts up it flashes 5 times a second.
When CAN communication is present it flashes once a second. (Normal if all is OK)
When CAN communication is missing, it flashes 2 times a second.
Supply voltage diodes:

Each side of the module has two diodes for the status for indicating +5 X1
+5
+24
X25
STATUS
+5
+24
X19 +5
status of supply voltage for sensors. As shown in the picture we +24 X2
X7 X13
X20 +24
can see the grouping for which the diodes corresponds to. left X3
X8
X9
X14
X15
X21
right
grouping X4 X22
grouping
X10 X16
X5 X23
+5 Supply voltage X6
X11 X17
X24
- Green LED indicates proper 5V sensor supply for the actual X12 X18
group. 30mA is available.

- Red LED indicates over loaded or short circuited supply. +5V is missing.
+24V Supply voltage

- Green LED indicates proper 24V sensor supply for the actual group. 2A is available.
- Red LED indicates over loaded or short circuited supply. +24V is missing.
The +24V sensor supply is enabled by the software. Its not activated until the CAN system is
started. This LED will be red until the system leaves boot mode.
73
I/O Module, CAN bus
Connection diodes:
The digital output/inputs, digital encoder input and PWM output B +5
+24
+5
+24
STATUS
connections on the I/O module are all software controlled. output A

X1
X25
X7 X13
X19
X2 X20
X8 X14
X3 X21
Depending on what type of output/input it is the diodes give X4

X9 X15
X22
X8 X10 X16
different information. When reading the diodes always check the X5
X11 X17
X23
X6 X24
signal diagram to be certain which kind of connection it is. X12 X18
Each connection has two diodes which indicates status of the output with different colours. The left
LED corresponds to pin 2 (Output B) and the right LED to pin 4 (Output A). This is valid for all
connectors.
The different status is indicated by colours as stated:
PWM
- Black: Output not active, load connected
- Green: Open circuit, output not activated
- Orange: Output activated and load actuated
- Red: Output activated but output short-circuited
Digital In
- Black: Low input voltage, no signal on the input
- Green: Voltage on the input, input activated
- Orange: Not used
- Red: Not used
Digital Out
- Black: Output not active, load connected
- Green: Open circuit, output not activated
- Orange: Output activated and actuated
- Red: Output activated but short-circuited
Decoder module
The decoder handles the functionality of the levers and buttons on operating panels, it converts the
signals from the levers and buttons to the RCS so that the RCS understands and is able to process the
information. There is one decoder module inside each side of the operator panel.

X1 X3 :CAN
X3 X8 X9 X6 X4 :CAN
X5 :Address
X4 X5 X6 :RS121 (Not used)
X8 :D-Sub Female (Keypad, not used)
status diode X9 :D-Sub Male (Key pad, not used)
Status diode:
The decoder module has an status diode indicating the following:
When the diode flashes five times per second, indicates that the system is starting up (Boot)
When the diode flashes once per second: indicates that CAN communication is ok
When the diode flashes twice per second: indicates that there is no CAN communication
74
I/O Module, CAN bus
Display module
The display module presents all necessary information for the user sent by the CAN system, it also
sends information entered through the display and operator panels to the application module for
further processing. The software for the entire RCS is loaded through the display module by using the
USB connector.

X2 :CAN
X3 :CAN
X4 :CAN

www.atlascopco.com
X5 :Address
X1 X2
MODULE STATUS
X3 X4 X5
LAN LINKED
X7 :USB
CAN1 STATUS LAN ACTIVE
CAN1 V+ REMOTE CONN
CAN2 STATUS RRC STATUS
CAN2 V+
Diodes:
X8 X6 X7 X9 The diodes works in the same ways as the ones on the
application module.
Overview - CAN components on D65s
Which functions are controlled by which I/O modules and contacts are listed separately but also
described under the corresponding section.
Supply voltage to module, CAN supply voltage and CAN communication can be measured and checked
with a CAN tester. (See figure below)
75
I/O Module, CAN bus
Fault indication
CAN HI shines red in the event of a short to ground.
CAN HI shines green in the event of voltage above 3.5 V.
CAN LO shines green in the event of short to ground.
CAN LO shines red in the event of voltage above 3.5 V.
If neither CAN HI or CAN LO are lit, communication is broken. A
CAN supply voltage may still be present.
If a lamp flashes red, the CAN communication level is wrong or B
inverted.
A more detailed description of how to use the test equipment is supplied

with the apparatus.
1250 0066 83
76
I/O Module, CAN bus
Module status, Display

Modules may be presented in different colours
in the module menu (see figure 1).
Yellow: Everything is OK.

Red: The system has no contact with
the module, or the module has a
fault, or there is an error on an
output.
Black: Selected module.
Select a module to view a status window (see

figure 2).
The list below describes the entries in the status
window:
Figure 1
CAN communication:
OK: Communication is OK.
Err: No communication.
Version:
Module version.
Article number:
Article number from Atlas Copco
Serial number:
Serial number from the supplier
Memory:
OK: Memory is OK.
Err: Error in RAM. Figure 2
Supply voltage:
Modules supply voltage. This should be greater than 18 V.
+5 +5
Sensor supply 5V: +24
X25
STATUS +24
X1 X19
OK: Supply voltage to the sensors is in the correct interval (+/- X7 X13
0.5V). X2 X20
X8
Err X.X, X.X: If the supply voltage is outside the interval, the voltage for X3
X14
X21
both the right/left half is shown. X4

X9 X15
X22
Sensor supply 24V: X10 X16
OK: Supply voltage to the sensors is in the correct interval (+/- X5 X23
X11 X17
3V). X6 X24
Err X.X, X.X: If the supply voltage is outside the interval, the voltage for X12 X18
both the right/left half is shown. Left half Right half

Module temperature:
OK: Module temperature OK.
Err XX.X: The module temperature is above 85C, the actual temperature is shown here.
Outputs:
OK: No error on outputs.
Output shown: Displays the outputs that are shorted (consume too much current) or have an open
circuit (consume too little current).
77
I/O Module, CAN bus
The red symbol in the lower right corner

indicates that there is one or more modules
which do not have contact with the system,
or the module has a fault. This is especially
helpful in a CAN system which has more
modules than what the display can show at
the same time. In such case the hidden
modules can be reached by using the arrow
buttons. When all the modules work
normally the symbol turns yellow.
General and specific settings for modules and angle sensors

Settings must generally be made on modules and angle sensors that replace components on the rig.
This must be done before the rig is recommissioned after repairs. Angle sensors must also be
calibrated, see the operators manual.
NOTE: Modules and angle sensors are not set with these settings on delivery.
Modules and angle sensors must be set as follows:
D501
The display in the cab must have a address plug (part no. 9106 1324 90) must be connected on output
X5.
D100
The application module must have an address plug (part no. 9106 1324 90) on output X5.
D101
I/O module D101 must have an address plug (part no. 9106 1324 90) on output X13.
D102
D103
I/O module D103 must have an address plug (part no. 9106 1324 92) on output X13. This I/O module
must also have an end plug since it is last on the CAN bus. Fit this end plug (part no. 9106 1828 34) to
output X19. End plug
RT
On
D170
Boom swing sensor D170 has an integrated end
plug that must be deactivated if the module is in
the middle of a CAN bus circuit, i.e. the switch in
the connector housing must be in position RT. Rate: kB/s
Adress x 10 9
0 1 9
0 1 9
0 1
Adress x 1
Also, the potentiometers in this housing must be
8
8
2
2
7
7
3
6 4 6 4 6 4
5 5 5
set as follows: 9
0 1 9
0 1 9
0 1
8
8
2
2
7
7
3
Rate Kb/s: position 3. 6 5

4 6 5
4 6 5
4
Address x 10: position 0. Rate = 3 x 125kB/s

Ad x 10 = 0
Address x 1: position 2 which corresponds to Ad x 1 = 2
CAN, Node Id 2 shown on display. Figure: example for D170
78
I/O Module, CAN bus
D171
Feed inclination sensor D171 has a fixed address that corresponds to CAN, Node Id 1 shown on
display.
D173
Boom lift sensor D173 has an integrated end plug that must be deactivated if the module is in the
middle of a CAN bus circuit, i.e. the switch in the connector housing must be in position RT.
Also, the potentiometers in this housing must be set as follows:
Rate Kb/s: position 3.

Address x 10: position 1.
Address x 1: position 9 which corresponds to CAN, Node Id 20 shown on display.
D175
Rig inclination sensor D175 has a fixed address that corresponds to CAN, Node Id 22 shown on
display.
Note: Make sure the positive (+) feed is connected correctly to prevent damaging the interface. (D170,
D171, D173, D175)
D500:1 & D500:2, Operators module

Operators module D500:1 must have an end plug (part no. 9106 2066 78) on output X3.
D510
D511
D530, Gateway
This is located above electric cabinet A1 and contains its own end plug and a fixed address that
corresponds to CAN, Node Id 56 shown on the display.
D569, Aiming device

Aiming device has a fixed address that corresponds to CAN, Node Id 54 shown on display.
79
Options
Options
Watermist system 225 l & 400 l
The watermist system is used to stabilize the drill hole when drilling through loose and porous rock by
adding water to the flushing air. The system is located at the back of the rig. In general, a small
amount of water is used to wet the drill cuttings and bind these into larger particles to reduce dust, or
to bind the dust to the hole walls to stabilize the hole.
Conditions for water mist:

The rig is in Drilling mode
Compressor is loaded
Air flushing is enabled
Watermist system 225 liters

The 225 litre water-mist system is a pressurized system. The water is injected into the flushing air after
it has been pressurized by the compressed air.
The amount of water is controlled by the two directional valves and an adjustable 1
damper as follows:
Reduced/auto water mist is activated by button 1. Valve Y112A is activated and
Y112B is deactivated, the amount of water is controlled by an adjustable valve
located in the cab. 6
Full water mist is activated by both button 6, and the full flow will only last for
as long as button 6 is depressed. Full water mist is used only for short intervals
to flush water onto dry clay to build sludge that can be used for stabilizing the
hole. Both valves Y112A and Y112B are activated.
When none of the buttons are activated, the water mist option is OFF. Both
valves Y112A and Y112B are deactivated.
Note: To avoid the suction hoses and dust collector filter clogging during the use of the watermist system,
DCT should be switched off if the dust is very wet or water spurts out the hole.
Watermist system 400 liters

The 400 liter water-mist system is a non-pressurized system. The water is pumped into the flushing air
circuit by a hydraulic piston pump. The hydraulic oil flow to the piston pump is controlled by solenoid
valve Y112D and it is provided by pump 1. The maximum pressure to the piston pump is limited by a
pressure relief valve set to 30 bar.
Level sensor B457 deactivates valve Y112D if the water level is too low after a delay of 2 seconds, i.e.
the sensor must remain deactivated for 2 seconds to stop the water pump. This delay is needed so the
system can make sure that low lever is not caused by
tramming on uneven grounds. This warning is indicated by
a yellow lamp on the status bar on the bottom of the display.
In case the level sensor is mal-

functioning and there is still enough
water left in the tank, the water mist
function can be forced by using
option Emergency mode, Water Mist in menu F2 Settings 1.
80
Options
The amount of water is controlled as follows: 1 2

Reduced/auto water mist is activated by button 1, the actuation of
valve Y112D is shown in percentage on the water mist scale in F1
menu, which represents how much water that is pumped out to the
system. The actuation of valve Y112D can be adjusted by buttons 2
6 7
and 7, the scale will then increase/decrease 1% by every push.
Full water mist can be directly activated by button 6, which will

increase the setting of valve 112D to its maximum.
Settings for Y112D

Min (0%): 200mA
Max (100%): 600mA
Button 6: 1250mA
When none of the buttons are activated, the water mist option is OFF. Solenoid valves Y112D
is deactivated.
Note: To avoid the suction hoses and dust collector filter clogging during the use of the watermist system,
DCT should be switched off if the dust is very wet or water spurts out the hole.
Important! When working in environments where the

ambient temperature often drops below 0C, it is
important to drain the water mist system in order to
avoid freezing. This can be done by activating option
Water Mist Draining in menu F2 Settings 1. When
selected, valve Y112C is activated for 20 seconds to
blow out the remaining water. The draining process is
also indicated by a green lamp on the status bar.
81
Options
Laser sensor
Laser sensor (B316) on the rock drill cradle sends in data signals via I/O module D103 and contact
X18 which are processed by the display for showing the correct hole length/hole depth information as
per preview.
The laser sensor is most often used in undulating terrain to maintain as level a hole bottom as possible
for blasting.
Laser sensor position
Laser level
4m
Drill bit position

10m
Hole bottom
Ex:
A rotary laser is placed at the highest point in the area. From here, the depth to hole bottom is
measured (in this case 10 m). When the rotary laser hits the sensor (B316) on the rock drill cradle, the
length between the sensor and drill bit (in this case 4 m) is automatically shown on the display,
irrespective of how many metres have been drilled. This is done every time the hole depth is reset. In
this case, we know that there are 6 metres left to hole bottom (10-4=6 m).
The settings for the laser sensor function can be found in the F2 menu. The function is activated by
checking the option for Laser Plane. The distance between laser sensor and the drill bit as mentioned
above can be entered in the box for Dist. Laser Sens. to Drill Bit.
If the rig has been moved to a lower drill plane where the laser sensor also has to be moved to a lower
level. The operator can just enter the height difference between the original laser plane and the
lowered laser plane, without having to change the desired drill depth. This can be entered in the box
for Dist. To Ref. Laser Plane.
82
Options
Spray greasing system

Lubrication of the drill steel threads is done by an air spray and a grease injector mounted on the lower
RHS carousel bracket. The grease is injected by a pump placed in the front of the wagon frame. The
grease pump is powered by compressed air from the compressor and controlled through valve Y552A.
Compressed air is also used for the spraying, and its controlled by valve Y552B.
In order to keep the injector from clogging and to avoid unnecessary smearing of things other than the
drill steel threads, air spraying is kept on for a longer period both before and after the grease is
pumped out. When functioning, valve Y552B for air spray is set to start 0.5 seconds before valve
Y552A for grease pump. Valve Y552A is then activated for 1 second to run the pump. To finish the
cycle, valve Y552B is set to stop 0.5 seconds after valve Y552A has been deactivated.
Valve Y552A and Y552B can be activated automatically or manually by Spray greasing,
using the buttons on the right control panel. automatic
Conditions for spray greasing:

The rig is in Drilling mode Spray greasing,
Compressor is loaded manual
Automatic Spraying
When automatic spray mode is activated then any of the following two events would trigger a spray
cycle, grease is then applied to the threads of the rod that is being held by the break out claws.
When the RHS arms reaches drill center (B120 active) with the rod grippers in hard grip.
When the RHS arms, moving from drill center towards the carousel, reaches the middle
position (B119 active) with the rod grippers in hard grip.
The system has no way of knowing whether there really is a rod in the grippers but it is assumed that
there is always a rod in the grippers when they are set to hard grip.
Automatic spraying is always activated when the rig is switched to drilling mode. If the operator for
some reason does not want automatic spraying then the button must be deactivated.
Manual spraying
A spray cycle is started as soon as the button for manual spraying is being pressed. The button can be
released immediately and the spray cycle will still continue until it is completed. If the button is still
held down when the spray cycle is completed then a new spray cycle will be started immediately. This
makes it easy to apply as much grease as needed by simply holding down the manual button until one
is satisfied.
83
Australia options
Australia options
The following features are specially designed for rigs in Australia, and they can be accessed via menu
System/Configure/AUS options.
Engine Idle-down Timer

This feature ensures that the diesel engine cannot be stopped before it has been running on idling
speed (1100 RPM), with the rig in tramming mode and the compressor unloaded for at least a
period of time set through entry Delay on the display.
Needless to say this function does not interfere with the emergency stop, if the emergency stop is
activated then the engine will still be stopped immediately.
Note: Re-connection in the electrical circuit needs to be carried out in order to control the ignition
relay K4 differently.
Tramming isolator
This feature ensures that tramming is safely blocked away in circumstances where the engine still
needs to be running, typically during rig service. This is done by having a switch (S281) that can be
locked (e.g. with a padlock) somewhere on the rig. As long as this switch is activated the tramming
valves Y206 and Y207 remain inactivated. Everything besides these valves shall continue to work as
usual.
The isolator switch is connected to I/O module D512, X12b. Negative logic is applied here, so if the
option is chosen on the display, a constant 24V input signal is required at the I/O input to enable
tramming. If the isolator switched is turned on, the input signal to the I/O module disappears and
tramming is not longer possible. In this way the isolating function would not be affected by a broken
wire.
84
Australia options
Rod in Hole Lockout

This feature is introduced to prevent the rig from tramming with rod(s) still below the surface level.
The following alternatives are used to determine whether the rods are inside or outside the hole:
Blocking rules:
- Alt 1: The length sensor B172 is not calibrated
- Alt 2: The cradle is below a certain position - Cradle Position Threshold
- Alt 3: There are more than one rod on left on the adapter
If any of the above is true:
- Rod(s) is still in the hole, tramming is blocked by this feature, i.e. tramming valves Y206 and Y207
remain inactivated.
It is however important to make sure that the rig does not get stranded somewhere because the
length sensor breaks; or the cradle get stuck somewhere down on the feeder; or the drill rod counter
fails to count down when a rod is removed from the adapter. Disabling the Rod in Hole Lockout
function via the menu is obviously the easiest solution to someone who has the AC level password.
There are however other ways of dealing with the above problems:
Broken length sensor

In order to prevent a faulty or uncalibrated length sensor from blocking the tramming function, the
option Emergency mode, Length Sensor can be activated via menu F2 Setting 1 in order to ignore
Alt 1 and Alt 2 of the blocking rules.
Cradle stuck down on the feeder

This can be solved in the same way as the broken length sensor.
Rod counter has incorrect values

Reset the hole length measurement as this also set the rod count to zero.
Operator Out of Chair Deallocation

This feature ensures that the operator cannot leave the chair during drilling and become injured on any
of the moving parts on the rig. The rig becomes deallocated (operator panels out of function) when the
operator leaves the chair, so that all movement stops. A pop-up warning Operator Out of Chair
Deallocation will also be shown on the display.
A timer (set through the display) starts when the chair switch indicates that the operator has left the
chair. If the timer expires then the rig is deallocated and the output signals to control valves Y121A,
Y121B and Y169 are set to high.
Just as with the previous feature there should be a way of preventing a broken switch from
immobilizing the rig. This can be solved by making it possible to for someone with an AC level
password to turn the feature on and off.
85
Australia options
External Switch for Water Mist Pump Control

Water from the water mist tank can be used when cleaning the rig on site. This is done by connecting a
hose to the water mist pump. In order to turn the pump on and off, a switch needs to be mounted
somewhere on the rig, preferably close to the water mist pump.
The switch is connected to I/O module D512, X6b. The switch can only be enabled when the rig is not
allocated (this will happen automatically when the operator leaves the chair, see previous paragraph).
Auxiliary Output
Other arbitrary device can be connected to a digital output, I/O module D511, X11. The digital output
is activated by pushing the spare button on the left OP panel overlay, and deactivated by pushing the
same button once again.
The auxiliary output can only be activated when the operator panel is allocated, i.e. the engine is
started. The load must not exceed 2A.
External Signal Horn

The external signal horn is connected to I/O module D101, X12a and X12b, and it is activated
manually by the operator before the engine is started. The external signal horn is controlled manually
by pressing the same button for standard signal horn.
86
Overview - Sensors, Valves
Overview - Sensors, Valves

Cab
Display
Control panel
for operators cab
Ignition key
Right control panel
Tramming levers
Left control panel
Hammer for emergencies

Fire extinguisher Heater unit/Air conditioning (located in roof)
87
Fault, warning and information symbols

Symbols Description Color Type
General warning - fault symbol Yellow/Red Warning/Fault
Sensor failure, displayed together with a Yellow Warning

message
Emergency stop activated Red Fault
B143 Low hydraulic oil level Yellow/Red Warning/Fault
B361 Low coolant water level Red Fault
B366 High compressor temperature Yellow/Red Warning/Fault
B360 Engine air filter clogged Yellow Warning
B365 Compressor air filter clogged Yellow Warning
B139 Hydraulic oil filter clogged Yellow/Red Warning/Fault
High engine coolant temperature Yellow/Red Warning/Fault
Sensor failure on one of the sensors Yellow Warning

connected to ECM
Engine has gone down to reduced Yellow Warning
power
Unknown fault from ECM Yellow Warning
High or low fuel pressure Yellow/Red Warning/Fault
Low oil pressure in engine Yellow/Red Warning/Fault
High charge air temperature Yellow Warning
High fuel temperature Yellow/Red Warning/Fault
High engine speed Yellow Warning
B362 High or low hydraulic oil temperature Yellow/Red Warning/Fault
Length sensor not calibrated Yellow Warning
B369 Low HECL pressure Red Fault
B380 Low HECL oil level Yellow Warning
88
Symbols Description Color Type
Jack down Yellow Warning
Low fuel level Yellow Warning
Battery voltage less than 24V Yellow Warning
Contact with remote control broken Yellow Warning
Time for engine service Yellow Warning
Time for rock drill service Yellow Warning
Lever/Levers not in neutral Yellow Warning
Erroneous positioning data obtained Yellow Warning

from angle sensor
Lever fault: Erroneous values from Yellow Warning
lever/levers
File transfer initiated Yellow Warning
MWD log is being saved to the card Green Info
S464 Winch protection switch activated Yellow Warning
Time to regrind drill bit Yellow Warning
Quality log has been corrupted because Yellow Warning

the operator has added one more hole
than the maximum allowed
Green=locked rotation Grey/Green Info
Grey=no locking
Locked collaring Green Info
Auto drilling locked Green Info
Option Grey/Green Info

Green=automatic rod handling system
is active
Grey=inactive or option not activated
Green=automatic positioning system is
active.
Grey=inactive or option not activated
Green=laser receiver has received a hit
on the laser plane
Grey=no hit or option not activated
89
Search list
Search list
Sensors
Designation I/O module Description__________________________
S132 D512, X5a Emergency stop
S139A D510, X11a Start key, ignition position
S139B D510, X11b Start key, start position
B101 D101, X22b Rotation pressure
B118 D102, X17a RHS arm in carousel
B119 D102, X18a RHS arm in middle position
B120 D102, X17b RHS arm in drill centre
B122 D102, X7a Calibration mode for length sensor. (Lower)
B127 D103, X12a Calibration mode for length sensor. (Upper)
B132 D101, X8 Damper pressure
B139 D512, X22b Pressure switch, hydraulic filter
B143 D510, X6a Hydraulic oil level
B147 D101, X2a Ambient temperature
B172 D103, X5 Length sensor on feeder
B182 D102, X11a Stop carousel rotation clockwise
B183 D102, X11b Stop carousel rotation clockwise
B188 D511, X21b Pressure, flushing air
B316 D103, X18a Laser receiver
B352 D511, X22b Fuel level
B360 D511, X17a Pressure switch, air filter (engine)
B361 D512, X23a Cooling water level, compressor
B362 D512, X20a Hydraulic oil temperature
B365 D512, X18b Pressure switch, air filter (compressor)
B366A D512, X2a Compressor temperature, high stage
B366B D512, X3a Compressor temperature, low stage
B369 D512, X21b Pressure, HECL pump
B379 D512, X12a Operator in seat
B380 D512, X18a HECL oil level
B456 D512, X4b Compressor vessel pressure
B457 D512, X17b Water mist level
90
Search list
Actuations
Designation I/O module Description_________________
Y102A D101, X9a Rotation CCW
Y102B D101, X9b Rotation CW
Y103 D101, X15a Pressure, feed cylinder
Y104A D101, X10a Flow, rear feed cylinder
Y104B D101, X10b Flow, front feed cylinder
Y104C D101, X14a Flow, rear feed cylinder
Y104D D101, X14b Flow, front feed cylinder
Y112C D511, X18a Water mist, draining
Y112D D512, X16a Water mist, flow control
Y115 D510, X18b Flushing air, full flushing
Y116 D510, X18a Flushing air, reduced flushing
Y120A D101, X17a Heating hydraulic oil
Y121A D101, X18a Pump 1, tramming/drilling
Y121B D101, X18b Positioning in tramming mode
Y122 D101, X17b Tramming, high speed
Y165 D512, X14a HECL pump
Y206A D101, X7a Tramming, left forward
Y206B D101, X7b Tramming, left back
Y207A D101, X8a Tramming, right forward
Y207B D101, X8b Tramming, right back
Y210A D512, X10a Compressor loading
Y210B D512, X10b Compressor high pressure
Y250 D510, X15a DCT, fan motor
Y251A D510, X11a DCT, filter cleaning A
Y251B D510, X11b DCT, filter cleaning B
Y251C D510, X12a DCT, filter cleaning C
Y251D D510, X12b DCT, filter cleaning D
Y253 D510, X15b DCT, outlet hatch
Y300 D102, X10a Gripper, open
Y301A D103, X8a RHS arm to carousel
Y301B D103, X8b RHS arm to drill centre
Y303A D102, X6a Carrousel rotation clockwise
Y303B D102, X6b Carrousel rotation anticlockwise
Y306 D102, X24a Gripper, loose grip
Y350A D103, X9a Lower drill steel support, open
Y350B D103, X9b Lower drill steel support, close
Y357A D103, X7a Suction hood Up
Y357B D103, X7b Suction hood Down
Y361A D103, X10a Upper drill steel support, open
Y361B D103, X10b Upper drill steel support, close
91
Search list
Designation I/O module Description______________

Y405A D510, X24a Feed extension Out
Y405B D510, X24b Feed extension In
Y410A D510, X14a Jack In
Y410B D510, X14b Jack Out
Y416A D510, X16a Feed dump, Out
Y416B D510, X16b Feed dump, In
Y419A D510, X9a Track oscillation, left Up
Y419B D510, X9b Track oscillation, left Down
Y420A D510, X10a Track oscillation, right Up
Y420B D510, X10b Track oscillation, right Down
Y421A D511, X7a Feed swing In
Y421B D511, X7b Feed swing Out
Y425A D510, X7a Boom swing, left
Y425B D510, X7b Boom swing, right
Y426A D510, X8a Boom lift Up
Y426B D510, X8b Boom lift Down
Y473 D511, X12a Track oscillation, floating
Y552A D101, X11a Spray greasing grease
Y552B D101, X11b Spray greasing air
K5 D512, X24a Starter relay
K200 D512, X24b Engine enable relay
H185 D512, X9b Warning, reverse tramming (lamp)
H186 D511, X15a Warning, reverse tramming (signal)
H226 D512, X15a/b Warning light, beacon
Last updated 20 December 2010
92

SmartRoc D65 System Description V 4.8

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Atlas Copco

SmartROC D65 software v4.8

RCS Rig Control System

Hydraulic system, general

Tramming control via

CAN information Drill Rapid Traction Traction Rotation

Extra oil only when drilling

Rod Dust Collector

Pump capacity at 1800 rpm (engine speed)

Return oil and oil cooler

Hydraulic oil tank Return- / drain oil filter

Test connections for the hydraulic circuits

Figure: Test connections for checking the hydraulic circuits.

Electrical system, general

Battery and charging

Electrical cabinet, ECM and gateway

The electrical cabinet contains 20 fuses

Electrical block diagram

Engine start Start motor

Contact Start ECM

Relay K200 Start

RCS System on Ignition

Relay K132 Contact

Compressor loading (Y210) Unloaded at startup

When starting the diesel engine, make sure that:

If the conditions above are fulfilled:

D512:X24b-high K200 activated ECM fully functional, enables engine start

Conditions for activation of starter motor:

D512:X24a-high K5 relay M1 activated

Start key (S139)

Emergency stop (S132B, S132C, S132 D, S132E)

the engine off automatically. 24V STATUS

Hydraulic oil level (Digital sensor B143): Via I/O

Hydraulic oil temperature (Analog sensor B362):

- If the temperature is < 125C

Switches and sensors that indicate faults only

Air inlet temperature

Control air pressure

Working air pressure

Cooling and oil systems

Instrument and fault indication

Emergency mode B456

Pumps and pilot pressure

Pressure control valve

Pump 1 pressure setting

Checking / Setting the pressure relief valve 4d.

Checking / Setting the maximum pump pressure P max.

To tramming circuit To DCT hatch, feed,

To the main valve block To the main valve block

Pilot pressure Pilot pressure

Conditions for starting the compressor/hydraulic oil temperature cooler fan:

Conditions for starting the engine water/ATAC temperature cooler fan:

The signal input to solenoids Y504 and Y501 varies max

When the compressor is loaded:

Ambient Temperature setting Ambient Temperature setting

When the compressor is not loaded:

Pump 5 & 6 maximum pressure

Conditions for right tramming motor:

Activating the tramming function

Figure: Main valve block - Tramming

Figure: Tramming motor

Tramming with high speed 10

Rear jack (option)