V5315 Z Ma 007 - 80346421

RIG/PLANT
Cardiff Drillship 3
REFERENCE
V5315
REFERENCE DESCRIPTION
HydraRacker Main Well
ADDITIONAL CODE

SDRL CODE
5.3
TOTAL PGS
106

This document contains proprietary and confidential
information which belongs to National Oilwell Varco; it is
loaned for limited purposes only and remains the property
of National Oilwell Varco. Reproduction, in whole or in
part; or use of this design or distribution of this information
to others is not permitted without the express written
consent of National Oilwell Varco. This document is to be
returned to National Oilwell Varco upon request and in
any event upon completion of the use for which it was
loaned.
Copyright National Oilwell Varco - 2010

National Oilwell Varco Norway AS
Postboks 401, Lundsiden
N-4604 Kristiansand
Norway

Phone +47 38 19 20 00
Fax +47 38 19 26 04

REMARKS
Part of user manual
MAIN TAG NUMBER

DISCIPLINE

CLIENT PO NUMBER

CLIENT DOCUMENT NUMBER

DOCUMENT NUMBER

V5315-Z-MA-007
REV

0
Hydra Racker Main Well
Cardiff 3

Operating Instructions
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Document number V5315-Z-MA-007
Revision 0
Page 3 of 106

TABLE OF CONTENTS

1 OPERATING INSTRUCTIONS ......................................................................................... 7
1.1 Safety Summary ................................................................................................... 15
1.2 Emergency Stop ................................................................................................... 16
1.3 Abbreviations and definitions ................................................................................ 17
1.4 Reference documents and drawings ..................................................................... 17
2 OPERATION INSTRUCTIONS ....................................................................................... 18
2.1 Man-Machine Interface (MMI) ............................................................................... 18
2.1.1 Cyberbase Controls in Drillers Cabin ........................................................ 18
2.1.2 Operator commands from Cyberbase ........................................................ 19
2.1.3 Operator commands from keypads and joysticks ...................................... 19
2.1.4 Local control panel ..................................................................................... 19
2.1.4.1 Controls Inside PLC Control Cabinet ...................................................... 19
2.1.5 Local Hydraulic Controls ............................................................................ 19
2.2 Normal Operation .................................................................................................. 21
2.2.1 During Operation ....................................................................................... 21
2.2.2 Basic Starting Procedure ........................................................................... 21
2.2.3 Start up after shut down when using Pickup Elevator ................................ 22
2.2.4 Start after emergency stop ........................................................................ 23
2.2.5 Basic Stopping Alternatives ....................................................................... 23
2.2.6 After shut down of HR when using Pickup Elevator ................................... 23
2.3 Standby Mode Operation ...................................................................................... 23
2.4 Manual Mode Operation ....................................................................................... 24
2.4.1 Restrictions in Manual Mode...................................................................... 24
2.4.2 Overriding Inhibits ...................................................................................... 25
2.4.3 Entering Manual Mode ............................................................................... 25
2.4.4 Selecting Arms ........................................................................................... 26
2.4.5 Axis Travel by Manual Increments ............................................................. 26
2.4.6 Using Pre-selected Target as Guide System ............................................. 26
2.4.7 Handling Stands ........................................................................................ 27
2.4.8 Handling Single Pipes ................................................................................ 28
2.4.9 FB and BB Operation ................................................................................. 30
2.4.10 Guiding Risers and Casing Lifted by Other Equipment ............................ 30
2.4.11 Lifting HydraTong / Iron Roughneck by the HR ....................................... 30
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 4 of 106

2.5 Auto Sequence Mode Operation ........................................................................... 31
2.5.1 Restrictions in Auto Sequence Mode ......................................................... 31
2.5.2 Selecting Target for Auto Sequence .......................................................... 32
2.5.2.1 Single FB Slot ......................................................................................... 32
2.5.2.2 FB Row Area .......................................................................................... 33
2.6 Auto Sequence for Tripping In or drilling mode ..................................................... 34
2.6.1 Preparations .............................................................................................. 34
2.6.2 Unloaded travel from WC to FB, for picking stand ..................................... 35
2.6.3 Loaded travel from FB to WC, with stand .................................................. 37
2.7 Auto Sequence for Tripping Out ............................................................................ 39
2.7.1 Preparations .............................................................................................. 39
2.7.2 Loaded travel from WC to FB, with a stand ............................................... 39
2.7.3 Unloaded travel from FB to WC, for picking up a stand ............................. 41
2.8 Auto Sequence for Standbuilding .......................................................................... 43
2.8.1 Preparations .............................................................................................. 43
2.8.2 Unloaded from a random position to CWM ................................................ 44
2.8.3 Unloaded from MH or WC to CWM ............................................................ 46
2.8.4 Loaded from CWM to MH or WC ............................................................... 48
2.8.5 Change Grip Position on a Double in MH .................................................. 50
2.8.6 Loaded from MH to SBL ............................................................................ 51
2.8.7 Unloaded from a random position to SBL .................................................. 52
2.8.8 Loaded from MH to MH with a Double ....................................................... 54
2.8.9 Loaded from SBL to MH2 or MH1 with a Double ....................................... 56
2.8.10 Loaded from MH or WC to FB ................................................................. 58
2.8.11 Unloaded from FB to CWM ...................................................................... 60
2.8.12 Loaded from MH or WC to WC ................................................................ 62
2.9 Auto Sequence for Building down Stand ............................................................... 64
2.9.1 Loaded from FB to WC, unload in TD elevator or onto stickup (LBD1) ...... 65
2.9.2 Loaded from FB to MH, unload in MH or slips (LBD2) ............................... 67
2.9.3 Loaded travel with single from MH or WC to CWM .................................... 69
2.9.4 Unloaded travel from CWM to MH or WC, for picking single ..................... 70
2.9.5 Unloaded from CWM (or MH or AW) to FB, for picking stand .................... 72
2.9.6 Loaded travel from WC to MH (or vice versa) to MH or slips (LBD3) ......... 74
2.9.7 Loaded from MH to WC (unload in TD elevator or on stickup) (LBD4) ...... 76
2.10 HR equipment Installation, Removal and Adjustment ........................................... 78
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 5 of 106

2.10.1 Installation and Removal of Pickup Elevator ............................................ 78
2.10.2 Changing Retention Bowl of 13 Pickup Elevator ................................ 80
2.10.3 Changing Adaptor Plates on Pickup Elevator 14-20 ............................... 81
2.10.4 Installation / Removal of Tail Arm Guide Heads ...................................... 82
2.10.4.1 Removal of installed Guide Head ......................................................... 82
2.10.4.2 Installation of Guide Head..................................................................... 83
2.10.5 Installation / Removal of Upper Arm Guide Heads .................................. 84
2.10.5.1 Removal of installed Guide Head ......................................................... 84
2.10.5.2 Installation of Guide Head..................................................................... 85
2.10.6 Adjusting the Guide Head 2 13 .................................................. 86
2.10.7 Installation / Removal of Gripper Heads on Main Arm ............................. 87
2.10.7.1 Removal of installed Gripper Head ....................................................... 87
2.10.7.2 Installation of Gripper Head .................................................................. 88
2.10.8 Using the Lifting Tool (If applicable) ......................................................... 90
2.11 Service & Emergency Travel Mode Operation ...................................................... 91
2.11.1 Restrictions in Service & Emergency Travel Mode .................................. 91
2.11.2 Emergency Travel .................................................................................... 92
2.11.3 Aligning the Trolleys ................................................................................ 93
2.11.3.1 Taking the HR to the Parking Location ................................................. 93
2.11.3.2 Trolley Alignment .................................................................................. 93
2.12 Operation by Local Hydraulic Controls .................................................................. 94
2.13 Operation of the Anti Collision System .................................................................. 94
2.14 Support Procedures .............................................................................................. 94
2.14.1.1 Selecting FB Rows for Auto Sequence ................................................. 94
2.14.1.2 Selecting Target Slot in FB ................................................................... 95
2.14.2 Defining Pipe Type for Selected FB Row ................................................. 95
2.14.3 Updating Memory with Latest FB Inventory ............................................. 96
2.14.3.1 Updating Memory with a New Stand ..................................................... 96
2.14.3.2 Deleting a Stand from the Memory ....................................................... 97
2.14.4 Learn Mode Operations ........................................................................... 97
2.14.5 Presetting Mode Operations .................................................................... 99
2.14.5.1 Presetting the Stickup Height ................................................................ 99
2.14.6 HR Operation in Cold Weather .............................................................. 100
2.14.7 Parking the HydraRacker ....................................................................... 101
2.14.7.1 Ordinary parking of the HR ................................................................. 101
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 6 of 106

2.14.7.2 Mechanical locking of the HR ............................................................. 101
2.15 Disturbance of Operation .................................................................................... 104
2.15.1 Dealing with Alarms ............................................................................... 104
2.15.2 Emergency Operations .......................................................................... 104
2.15.2.1 Emergency Lowering the Load ........................................................... 104
2.15.2.2 Emergency Parking of HR .................................................................. 105
2.16 Training Program for Operators .......................................................................... 106
2.17 Cyberbase Attachment ....................................................................................... 106
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 7 of 106

1 OPERATING INSTRUCTIONS

This document describes correct use of the National Oilwell Varco HydraRacker IV
(HR). The document also covers normal remote operation of the closely integrated
Fingerboard (FB) and Bellyboard (BB).

The objective of the HR is the building and transporting of vertical stands of drill pipes,
drill collars, casing and bottom hole assemblies between the FB and Catwalk Machine
(CWM).

HR is located on the drillfloor it will be used for transporting stands between FB, Well
Centre (WC) and (when applicable) assist build stands in Mousehole (MH) or in WC.

The Operating Instructions are based on the assumption that the equipment has been
commissioned and thus is ready for ordinary routine operation. It is also assumed that
the operator has studied the technical description, drawings and is familiar with the
overall system.

The HR IV Main is an identical machine of the HR IV Aux, with the same capabilities.
The pickup elevators used for single pipe handling and its hangoff brackets are
supplied with the HR IV Main. The HR IV Aux will be borrowing these pickup elevators
for single pipe handling.

The stand building instructions are customized for the HR IV Aux, but can apply to the
HR IV Main, if chosen to be used for single pipe handling (stand building and building
down a stand).

The operating instructions on this manual are duplicated to the HR IV Aux. Several
drawings will therefore be found in the HR IV Main manual since some equipment is
delivered with the HR IV Main and not with the HR IV Aux.

It is essential that the HR operators have the required knowledge, education and
training before using the HR.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 8 of 106

Typical HydraRacker IV Main & Aux in Test Stand
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 9 of 106

Typical Upper Beam and Utility Manifolds.

Typical Upper Trolley on Upper Beam.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 10 of 106

Typical HR IV Gripper Head & Guide Head
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 11 of 106

Typical Upper Guide Arm with Upper Guide Head (Lifting Yoke for Installation Only)
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 12 of 106

Typical Main Arm with Grip Head
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 13 of 106

Typical Tail Arm with Guide Head, Here Guiding a Drill Collar Stand
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 14 of 106

Typical Lower Trolley on Lower Guide Track
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 15 of 106

1.1 Safety Summary

The following types of safety message may appear in this document:

WARNING: Must be observed to prevent serious injury.
CAUTION: Must be observed to prevent damage of equipment and/or loss of
operating effectiveness.
NOTE: Must be observed for correct and efficient operation.

It is the responsibility and duty of all personnel involved in the operation and
maintenance of this equipment to fully understand the SAFETY measures, by which
hazards are reduced or eliminated. Personnel must familiarize themselves with all
aspects of safety and operation of the equipment before starting any operation or
maintenance.

The following points summarize the safety aspects related to operation:

Only qualified personnel are allowed to operate the HR.
The HR must only be used for the prescribed purpose and in accordance with the
given operating instructions. Lifting of personnel is not allowed!
Dropped objects are potential killers! Always ensure that tools and/or equipment are
not lost or forgotten at high places. If necessary, seal the area below.
The safe working load (SWL) varies with the arm outreach, and with the pipe type
and diameter. See more info in the Product Data Sheet section.
When a stand is transported by the HR, the stand must always be guided by both
the upper guide arm and the tail arm.
The upper and tail guide arms are for guiding pipes lifted by the main arm only, and
must not be used for lifting.
If the Gripper High Pressure Alarm appears on the screen, secure the pipe/stand
and investigate the Gripper Head for damage. The Alarm has to be cleared with
a password.
If the Brake Fault Alarm appears on the screen, the brakes are released when they
are supposed to be activated. Secure the HR at the parking position. Shut down the
HR and investigate the cause of the Brake Fault Alarm. If the Alarm is ignored, the
HR might fall down!
If the HR trolleys are operated individually (emergency travel), it is not allowed to
move one trolley more than 0.5m ahead of the other.
The tail arm is for guiding of pipes lifted by the main arm only, and must not be used
for lifting.
Always use the tail arm to guide the lower end of vertical pipes, and also when using
a pickup elevator (PUE) or special lifting tool in the grip head.
If the hydraulic pressure is lost during operation, the load must be emergency
lowered and secured within 30 minutes, due to loss of grip head pressure.
The equipment is powered by high-pressure hydraulic oil. Beware of the risk of
pipe/hose burst. Pipe/hose connections and filter bowls must not be unscrewed
before the hydraulic system is depressurised.
When opening valves manually, always open slowly to avoid pressure shocks.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 16 of 106

Always use eye protectors while working with fluids and air under pressure.
Use ear protection while bleeding down air pressures.
If anyone gets hydraulic oil into the eyes or open wounds, wash at once with lots of
fresh water. Consult a doctor if necessary.
In the case of a fire, be aware that hydraulic oil is flammable. The combustion point
is ca. 200C. Oil mist is highly flammable!

1.2 Emergency Stop

CAUTION: ACTIVATION OF EMERGENCY STOP IN DRILLERS CABIN WILL
CLOSE ALL FINGERBOARD LATCHES.

The HR can be emergency stopped from the following locations:

In DCR at each Cyberbase operator station there are emergency stop buttons. Each
emergency stop shuts down all drilling equipment at the actual drillfloor (Main or
Aux) including both HRs. The side effects/consequences of the emergency stop
must be considered before using the emergency stop.
At each drillfloor, Main and Aux, is an emergency stop button. Each emergency stop
button shuts down all drilling equipment at the actual drillfloor. The side
effects/consequences of the emergency stop must be considered before using the
emergency stop.
At the HPU is emergency stop button(s). The emergency stop shuts down the HPU
and stops all equipment powered from the hydraulic ringline, including the HR. The
side effects of shutting down the ringline must be considered before using the
emergency stop.
At the HRs lower trolley, at the front and rear side is an emergency stop button
(behind protective lid). Each button closes the HRs main shutdown valve and
isolates the HR from the hydraulic ringline. The HR will be hydraulically locked at its
present position. The operation of the ringline is not affected.
On the HRs upper beam, manifold in derrick is one emergency stop button. The
button closes the HRs main shutdown valve and isolates the HR from the hydraulic
ringline. The HR will be hydraulically locked at its present position. The operation of
the ringline is not affected.

The operators must familiarize with the emergency stops before starting any operation
of the HR. After an emergency stop the cause of activation must be investigated before
the button is reset. The equipment can thereafter be restarted normally.

If the hydraulic supply to HR is lost (shut off) while HR is carrying any load, and the
supply cannot be reestablished within 30 minutes, the load must be emergency lowered
and secured. This is because of gradual loss of grip jaw pressure. See 2.15.2
Emergency Operations section for details.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 17 of 106

An emergency stop disables all active HR modes, and they remain disabled even after
the emergency stop button is reset (by turning/pulling). The power supply to all on/off
solenoids and proportional valves is hardwired to the emergency stop loop, and remains
turned off as well. To return to normal, the operator must first reset the emergency stop
button, and then reactivate HR controls to reopen the main shutdown valve (see 2.2.2
Basic Starting Procedure). Finally he must reselect the operating mode and target.

1.3 Abbreviations and definitions

ACS Anti Collision System
AW Auxiliary Well
BB Belly Board
CCTV Closed-Circuit Television
CCW Counter Clockwise
CW Clockwise
CWM Catwalk Machine
DCA Drilling Control Room or Drillers Cabin
DCDA Drilling Control and Data Acquisition
FB Fingerboard
HPU Hydraulic Power Unit
HR HydraRacker IV
HT HydraTong (Iron roughneck)
MH Mousehole
MMI Man-Machine Interface
MW Main Well
OD Outer Diameter
PLC Programmable Logic Controller
PUE Pickup Elevator
SBL Stand Building Latch
SDI Smart Drilling Instrumentation
SWL Safe Working Load
TC Tubular Chute
TD Top Drive
WC Well Centre, can be either MW or AW

Operator The person assigned the responsibility of physically operating and
maintaining the equipment

1.4 Reference documents and drawings

Please refer to documents and drawings part in Final documentation dossier.

Drawings are included in the Drawings and Parts Lists section (V5315-Z-MA-018).

Cyberbase Attachment section (V5315-Z-MA-007 Attachment)

Maintenance Instructions section (V5315-Z-MA-005)
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 18 of 106

2 OPERATION INSTRUCTIONS

2.1 Man-Machine Interface (MMI)

2.1.1 Cyberbase Controls in Drillers Cabin

The HR is normally operated from assistant drillers Cyberbase operator station in the
main drillers cabin. The remote operation of the fingerboard (FB) is from the same
station, and closely integrated with the operation of the HR.

It is assumed that the operator already is familiar with the general use of the Cyberbase
(described in separate DCDA and SDI User Manuals), and the present focus is
therefore on how the operator station is used to operate the HR and FB. The operator
station uses different sets of keypads and screen displays for machine control, and the
keypads and displays for HR and FB control are described in detail at the next pages.
Illustrations showing the layouts of keypads and displays are found in the attachment at
the end of the operating instructions.

The Cyberbase operator station is shown in the below illustration, and the following
main parts are numbered: 1: Two screens. 2: Mode switch. 3: Machinery emergency
stop button. 4: Two joysticks for machinery control. 5: Two keypads for machinery
control. 6: Trackball (mouse). 7: Numerical keyboard.

Cyberbase Operator Station for a Typical Drillship
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 19 of 106

2.1.2 Operator commands from Cyberbase

See Cyberbase Attachment.

2.1.3 Operator commands from keypads and joysticks

See Cyberbase Attachment.

2.1.4 Local control panel

There are no local control panels for this equipment since the HR is controlled from the
Drillers Cabin. However there is a control in the PLC Control Cabinet, described below.

2.1.4.1 Controls Inside PLC Control Cabinet

Drawing: Layout drawing-E0301 for Control Cabinet

Inside the HRs PLC control cabinet there is the following operator control:

Emergency Trolley Release key switch S2: The key switch is used to release the HRs
upper and lower trolleys for emergency travel.

WARNING: THE OPERATION OF THE TROLLEYS WILL NO LONGER BE
SYNCHRONIZED! THE TROLLEY RESEASE LAMP AT THE SERVICE DISPLAY
WILL BE LIT.

2.1.5 Local Hydraulic Controls

Drawings: See hydraulic drawings

All HR movements are directly controlled by hydraulic proportional valves. The valves
are normally remotely operated but each has also a manual control lever for local
control. The levers are for service and emergency use only and can be operated in both
directions along a single axis. The speed depends on the affection of the lever. When a
lever is unaffected, it automatically returns to intermediate neutral position and the
movement stops. Be careful when operating the upper and lower trolleys this way, as
the trolleys might become unaligned! The maximum allowed trolley misalignment (one
trolley ahead of the other) is 0.5m. Make sure that the trolleys are aligned before ending
the local operation.

Note that brakes on upper/lower trolley and slew have to be pumped up by use of hand
pump before it can be operated from local controls. When trolley/slew is in the desired
position the brake must be engaged again by venting the brake pressure out by opening
vent valve (CCW) on hand pump.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 20 of 106

Typical vent valve on hand pump and three way ball valve

When the 3-way ball valve for the breaks is in Normal position, the brakes are
activated/deactivated by solenoid valves. When the 3-way ball valve is in Emergency
position a hand pump can be connected to the brakes by use of quick connections. The
hand pump is used to release the brakes. The breaks are activated again when the
valve on the hand pump is opened (the 3-way ball valve has to be set to Normal position
when the hydraulic flow is ok again). The Emergency position is only to be used when
there is need to move the HR and manually operate (with levers) the HR (see
Emergency procedure). If the HR is supposed to be moved with a chain hoist, it is also
necessary to open the valves that short-circuit the engines for trolleys and slew.
The valves are:

H145-1 for Slew.
H145-2 for Lower Trolley.
H145-3 for Upper Trolley.

The HR is also prepared for emergency operation. This may be needed if the hydraulic
supply pressure is lost while the HR is transporting a stand. The procedures for this,
including identification of the changeover valves is given on local sign plates on the
vertical column and on the upper trolley. The same information is given in the two
emergency procedure sign drawings in the Drawings and Parts Lists document.
Reference is also made to the 2.15.2 Emergency Operations section.

The HR can also be operated manually if the communication from the Drillers Cabin
fails. Then local hydraulic control can be used as follows:

Manual operation of Main Arm Winch: Set 3-way ball valve H58 to manual operation.
Use lever to operate Main Arm Winch.

Manual operation of Upper Arm (and Guide Head): Activate lever H18 during all manual
operation of Upper Arm. Use levers to operate Upper Arm and Guide Head on Upper
Arm.

Manual operation of Main Arm (and Gripper Head or PUE): Activate lever H82 during all
manual operation of Main Arm. Use levers to operate Upper Arm and Gripper Head.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 21 of 106

Manual operation of Tail Arm (and Guide Head): Use levers to operate Tail Arm and
Guide Head on Tail Arm

2.2 Normal Operation

The operation of the HR can be operated in Manual Mode or Auto Sequence Mode.
These modes are described below. When the HR is waiting in between to sequences,
the HR enters Standby Mode, who also is described below.

2.2.1 During Operation

To use the HR for normal pipe handling operations, continue at the procedure below
that describes the required pipe handling operation. Auto sequence mode is
recommended for normal routine operations. A number of support procedures are
described separately after the main procedures.
Make sure that external equipment and personnel dont get into the operating area
of the HR.
If HR has been operated in emergency travel mode, remember to realign the trolleys
before returning to normal operation (see 2.11.3.2 Trolley Alignment section).
If the operator will be away from DCR, it is recommended not to leave the HR in
Manual mode. This will to some extent prevent unauthorized personnel from
operating the HR by accident.

2.2.2 Basic Starting Procedure

HR is parked and shut down. The heads are installed on the arms, and the elevators
are parked at the hang-off brackets.
Verify that the electric power supply is on to the HR control system.
Inspect the HR visually to verify that it is undamaged and ready for operation.
Verify that the rails and operating area are free from hard objects and obstacles.
Verify that the hydraulic ringline is pressurized normally.
Verify that the manual isolating valves from the hydraulic ringline to HR are open.
In cold weather, inspect the HR to make sure that trolley rails and other exposed HR
parts are not covered by ice and snow. Such ice and snow must be removed before
activating the HR.
If the HR is started in cold weather, see recommendation in the 2.14.6 HR Operation
in Cold Weather support procedure.
Log on assistant drillers operator station as assistant driller. Initially, select the left
and right HR keypads, and at the left screen the HR display. At the right screen,
select the preferred CCTV camera. If the camera lenses are dimmed by sea spray,
they must be cleaned.
Acknowledge (and if necessary remedy) any HR alarms.
Activate the HR controls by selecting the HR On keypad button. This causes the
main shutdown valve in the hydraulic pressure supply line to the HR to open. The
HR now rests in passive standby mode.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 22 of 106

Immediately after activation, the control system has no open-closed status info for
the HR heads. To get a status, positively open all heads/jaws from the right keypad.
If the HR has been locked at the parking position (which it should be to secure it
during rig transit and in extreme weather), it must be unlocked manually as
described in the 2.14.7 Parking the HydraRacker section. If the HR is parked
unlocked, it can be moved out of the parking position directly, in manual mode.
The present positions of the main arm roller jaw and tail arm guide head are not
automatically detected after the HR has been switched off. Positively open these
heads/jaws by selecting manual mode and pushing the belonging Open keypad
buttons. Open the main arm grip jaw as well. The main arm guide claw can remain
open during most operations.
If an elevator needs to be installed (for handling singles), see 2.10.1 Installation and
Removal of Pickup Elevator section. After an elevator has been installed, it is
important that the correct retention bowls/adaptor plates are installed in the elevator,
and that this elevator is entered at the HR Setup display. If no elevator is installed,
verify that no elevator is entered at this display.

2.2.3 Start up after shut down when using Pickup Elevator

Start the HR in manual mode (see above) followed by.

CASE; PUE Guide jaws are closed:
Activate PUE close command and verify PUE closed status on the keypad.

CASE; PUE Guide jaws are open:
Activate PUE open command and verify PUE open status on the keypad.

CASE; PUE rotated to centre:
Activate PUE rotate center command and verify PUE rotate center status on the
keypad.

NOTE: THE PUE TILT FORWARD IS ACTIVATED AUTOMATICALLY. VERIFY PUE
TILT FORWARD STATUS ON THE KEYPAD.

CASE; PUE rotated to pickup
Activate the PUE rotate to pickup command and verify PUE rotate to pickup status on
the keypad.

NOTE: THE PUE TILT IS AUTOMATICALLY SET TO FLOAT. VERIFY NO STATUS
ON PUE TILT FORWARD AND PUE TILT BACKWARD ON THE KEYPAD.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 23 of 106

2.2.4 Start after emergency stop

To return to normal operation, the operator must:

Reset the emergency stop button.
Reactivate HR controls to reopen the main shutdown valve (see 2.2.2 Basic
Starting Procedure).
Reselect the operating mode and target.

2.2.5 Basic Stopping Alternatives

Before normal shutdown of the, the HR must be unloaded and all heads should be
opened. If a load for some reason cannot be removed from the HR before HR is shut
down, the load must (before shutdown) be lowered onto a firm foundation and
secured in this position by other equipment. The HR is not designed for holding or
keeping such load in position after shutdown, except as described in the 2.15.2.1
Emergency Lowering the Load section.
If the HR will be unused for a longer period, it is recommended to park the PUE at
the designated hang-off bracket. For shorter stopping, the PUE can remain.
Park the HR as described in 2.14.7 Parking the HydraRacker section.
Enter standby mode by deselecting other modes.
Deselect the HR controls (and close the main shutdown valve) by deselecting the
HR On keypad button.
Log off the operator station.

2.2.6 After shut down of HR when using Pickup Elevator

After shut down of HR, all PUE statuses need to be updated to actual status.

NOTE: THE STATUSES OF THE PUE IS LOST WHEN OPERATOR SETS HR IN
STANDBY MODE.

2.3 Standby Mode Operation

Standby mode is a passive mode, to which the HR automatically enters after logging on.
Manual mode, auto sequence mode and service & emergency travel mode can all be
entered from standby mode. After these modes are deselected, the system returns to
standby mode. The present mode selection is shown at the HydraRacker Status field of
the FB Main and FB Aux displays.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 24 of 106

2.4 Manual Mode Operation

Manual mode operation means that all HR movements are controlled manually by
joysticks and/or keypad buttons. No automatic sequences or automatic running to a
preselected target are included. Preselecting the target is however recommended even
in manual mode, because the advantage of the target guiding at the FB Main and FB
Aux displays. The speed depends on the affection of the joysticks.

Manual mode is available for all HR operations, but is lengthier than normal auto
sequence mode. The automatic overload and ACS are functioning normally.

Learn mode and Presetting mode (described separately among the support procedures)
are sub-modes that can be entered from Manual mode. Presetting mode can also be
entered from the Service & Emergency travel mode. These sub-modes are used for a
number of less frequent learning/presetting operations.

2.4.1 Restrictions in Manual Mode

General:

All joysticks must be in centre and standby mode active before selecting/deselecting
manual mode.
Selecting learning operations for movement axes is only available from
manual mode.
Selecting presetting operations for axes is available from manual mode.
Manual mode must be entered and all joysticks must be in centre before manual
increments can be selected.
There are software limits for all axes before the mechanical end limits of fixed
equipment or structures.
The ACS prevents collisions with other machines.
Other restrictions/interlocks, related to overload, etc. is also functioning

Trolley Axis:

Trolley travel with extended arm(s) is only permitted by fine and coarse increments
(1 and 10mm steps).

Slew Axis:

Slew operation with extended arm(s) is only permitted by fine and coarse increments
(0.1 and 1 deg.).

Arm Axes:

When entering a FB slot with a stand, all latches including the target slot must be
opened before the arms can be extended.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 25 of 106

When entering a FB row with a stand, the trolley and slew positions must be inside
the tolerance limits for the selected row before the arms can be extended.
Extension of arms is stopped if a pipe is detected in an open grip/guide head.

Hoisting Axis:

If the grip jaw and the roller jaw are not both opened or both closed, the winch
hoisting is prevented from operation.

2.4.2 Overriding Inhibits

During HR operation the operator may encounter a number of inhibits/interlocks that
block the execution of the commands. Many of the inhibits can be overridden by first
pushing HR Conf.Ack. button (confirm acknowledgement) and then trying again.

If the confirm acknowledgement is insufficient, keep the Comn O/R (Common override)
keypad button activated and repeat the inhibited command.

The FB Override keypad button is used to override fingerboard inhibits. This override is
typically used if stands are taken in or out of the fingerboard by a utility winch.
Afterwards the PLC memory must be updated as described in the Updating Memory
with Latest FB Inventory procedure.

There are also some other and more specific override buttons at the keypads. These
are used like the common override, and in accordance with the description of controls.

Before inhibits are overridden, the operator should study carefully the operator
messages appearing at the HR display and also the alarm messages. In most cases the
cause of the inhibits should be remedied in a proper way rather than just overriding it.

NOTE: WHEN PRESSING AN O/R BUTTON BE SURE THAT THE FAULT OR ALARM
REQUIRING THE USE OF THE O/R BUTTON IS DEALT WITH BEFORE ITS
ACTIVATION. THE OPERATOR MUST UNDERSTAND THE FAULT OR ALARM, AND
CONSIDER IT SAFE TO PRESS THE O/R BUTTON.

2.4.3 Entering Manual Mode

Manual mode is entered from standby mode by selecting the HR Manual Mode keypad
button. Repeat the command to deselect. After the mode is selected, the manual
function buttons of the two right side keypads are activated (HR On is always available),
and the joysticks are released for normal manual operation. The trolleys are always
operated in parallel in manual mode.

During manual (and auto sequence) mode operation the operator should get used to
frequently checking the operator messages at the FB Main or FB Aux display.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 26 of 106

2.4.4 Selecting Arms

All three arms are normally operated in parallel. The upper and tail guide arms then
automatically follow the extend/retract movements of the main arm. The following arm
combinations are available by repeatedly pushing the button on top of the right joystick:

Upper arm
Main arm
Tail arm
Upper + Tail arm
Main + tail arm
All three arms (normal).

The present arm selection is shown at the Target Guidance field of the FB Main and
FB Aux displays (the target guidance arrows of deselected arms are faded down). The
selection of two or more arms is only effective if you first have manually adjusted the
arms to parallel positions (same extension 10cm). The normal way of doing this is to
retract each arm fully. The Arms Parallel lamp will be lit after successful positioning.

All three arms shall always be selected and used when stands are transported.

2.4.5 Axis Travel by Manual Increments

Each HR movement takes place along a defined movement axis. Ordinary manual
joystick operation is not always the most accurate way to control the movement.

As an alternative, when more accurate travel/positioning is needed, the operator can
select travel by manual increments. The travel then takes place in the form of small
defined steps, fine and coarse, each time the joystick is moved out of centre. The steps
are in the direction the joystick is deflected.

Manual increments are available in manual mode only, and are selected / deselected by
pressing the belonging keypad buttons at the left HR keypad.

The fine step is 1mm for linear travel, and 0.1 degree for slew. The coarse step is 10mm
for linear travel, and 1.0 degree for slew. The present selection is also shown at the HR
displays.

2.4.6 Using Pre-selected Target as Guide System

It is recommended to preselect the target before carrying out a pipe handling operation,
even in manual mode. There is no auto sequence to take the HR to that target, but the
Target Guidance field at the FB Main and FB Aux displays will be guiding the way.
Targets are selected at the left HR keypad or by the FB navigation buttons (when the
target is a FB slot).
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 27 of 106

If Select Trolleys stop at target is marked in the Setup display, then the target guidance
will act as software end stop and the correct slew and trolley positions are achieved.

2.4.7 Handling Stands

WARNING: BOTH GUIDE ARMS MUST ALWAYS BE USED TO GUIDE STANDS
LIFTED BY THE MAIN ARM GRIP HEAD. WITHOUT SUCH GUIDING THE LOAD
MAY START OSCILLATING AND OVERSTRESS THE SUSPENSION BOLTS OF
THE GRIP HEAD.

The stands are lifted by the main arm grip head and guided by the upper and tail arm.
The arms must be operated in parallel and the guide arms then automatically follow the
main arms extend/retract movements.

In manual mode each pair of jaws and head (grip head has two pair of jaws) are
operated independently, one at a time. The following sequence is used for gripping a
stand safely:

1. The grip head roller jaw closes around the stand (and centralizes it).
2. The tail guide head closes around the stand.
3. The upper guide head closes around the stand.
4. The grip head grip jaw grips the stand.
5. Target latch at the FB is opened (applies only when HR is in the FB).

After a stand has been gripped, the arms must be retracted fully. During all HR transport
of stands and all unloaded HR travel (trolley travel and column slewing) the arms must
be retracted. During unloaded travel the speed of all HR movements can be increased
by selecting the HR Speed High keypad button. The speed automatically returns to
normal when the HR is loaded.

The handling between pickup and delivery is controlled by the left and right HR
joysticks, normally in accordance with the operator messages. The stand is released in
reverse order of the gripping, after it has been seized/secured by other equipment.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 28 of 106

2.4.8 Handling Single Pipes

Always use a PUE when handling single pipes. Always use the tail arm to guide the
lower end of vertical pipes when using a PUE or special lifting tool in the grip head.

The PUE are designed to lift single pipes only (not stands). Always use Tail Arm!

Procedure for use and checking correct operation of PUE before closing the PUE guide
jaws, please make sure that the pipe/tubular is slightly lifted off the catwalk and tool joint
is seated in the PUE insert visually confirm proper closing of PUE guide jaws. If
handling single pipe from drill string utilize CCTV to confirm seating and jaw closure.
See next page for correct closing details.

After the pipe/tubular is lifted up in vertical position and the tail arm is engaged, ensure
that the functions PUE Rotate Center and PUE Tilt Fwd are activated and confirm
visually that the PUE has rotated and tilt cylinders have tightened the wires before any
further operation. Keep tail arm engaged until the pin end is otherwise secured.

Ensure by visual inspection, that the PUE Guide jaws have a small clearance
(3 10mm required) between the tubular and guide jaws after the function PUE close is
activated.

Also check the opening between the tip of PUE Guide jaws (See sketch below). The
opening shall be at least 50mm less than the diameter of the tubular in PUE.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 29 of 106

It is advised that if the recommended measurement of the opening (based on
information above) cannot be achieved, the PUE should be taken out of service and
NOV Technical Support contacted for further assistance.

After the pipe/tubular is lifted up in vertical position and the tail arm is engaged:

Ensure that the functions PUE Rotate Center and PUE Tilt Fwd are activated and
confirmed visually that the PUE has rotated and tilt cylinders has tightened up the wires,
before any further operation. Keep Tail Arm engaged until the pin end of the tubular has
been stabbed into connection or otherwise secured.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 30 of 106

2.4.9 FB and BB Operation

The FB consists of a number fingers that form the FB rows, and each row is divided
into a number of slots.

Each slot can store one stand of the specified and pre-defined type, and the stand (or
group of stands) is secured/locked by a latch. Each latch can be opened and closed,
and FB operation consists of opening and closing such latches. The remote FB
operation is closely integrated with the HR operation.

After manual mode is selected, the latches are opened and closed manually by the
keypad buttons. In manual mode the latches do not open automatically, as they do in
auto sequence mode.

The BB latches automatically follow the operation of the corresponding FB latches.

For more FB information, including how to operate the fingerboard latches by local
controls, reference is made to the Fingerboard User Manual.

2.4.10 Guiding Risers and Casing Lifted by Other Equipment

Subject main HR is not used for guiding of pipes lifted by other equipment. The only
exception is for thin stands that may wobble while the Top Drive connects it down at the
HydraRacker level. In this case the Grip Head with its dies can be used to hold the thin
stand stable while a positive lock is obtained. All transported stands are both lifted and
guided by the HR.

2.4.11 Lifting HydraTong / Iron Roughneck by the HR

HydraTong (HT)/Iron Roughneck are not allowed to be transported in any way by
subject HR. (This standard section is kept as a positive confirmation.)

For lifting other equipment etc. see 2.10.8 Using the Lifting Tool section.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 31 of 106

2.5 Auto Sequence Mode Operation

Auto sequence mode is the normal and most efficient way to handle pipes by the HR, at
least for routine handling. Unlike manual mode, there is no separate keypad mode
button to be pushed to enter auto sequence mode. Instead, the individual auto
sequence is entered by pushing the button on top of the left joystick, but only in
accordance with the operator messages. What auto sequence is entered depends on
the present HR position/condition and on the preselected target. Auto sequences are
normally entered from manual mode, but also available from standby mode.

During execution of the sequence, the operator is guided by operator messages
appearing at the Operator Messages field. The operator responds (goes on to the next
step) by pushing the button on top of the left joystick or by moving that same joystick
forward. The speed of the operations is generally adjustable by the deflection of the
joystick. Manual (mode) adjustments are allowed after certain steps until the stand
finally is delivered at the target.

WARNING: BOTH GUIDE ARMS MUST ALWAYS BE USED TO GUIDE STANDS
LIFTED BY THE MAIN ARM GRIP HEAD. WITHOUT SUCH GUIDING THE LOAD
MAY START OSCILLATING AND OVERSTRESS THE SUSPENSION BOLTS OF
THE GRIP HEAD.

2.5.1 Restrictions in Auto Sequence Mode

All joysticks must be in centre and manual or standby mode must be active before
an auto sequence can be started.
Learn mode and presetting mode operations cannot be executed in auto seq. mode.
There are software limits for all movement axes before the mechanical end limits.
The ACS system is operating to prevent collisions.
The axis operation is speed limited according to the selected pipe/stand type.
Closing of grip jaw, roller jaw and guide heads is only operated by the pushbutton on
the left HR joystick.
If there is no pipe in the grip head (grip and roller jaws open) and the PUE is
disabled, then guide head must be open before entering auto sequence mode.
During transport of single pipes by the PUE (loaded sequence) the grip and roller
jaws must be open. The PUE latch and tail arm guide head must be closed on pipe
before entering auto sequence mode.
During unloaded transport by the PUE, PUE latch, grip and roller jaws must be open.
If the PUE latch is open, the guide head must be open and the PUE has to be
retracted, clear out of stickup/WC/MH before entering auto sequence mode.
During transport of a stand, the PUE latch must always be open. If not, auto
sequence mode cannot be entered.
Jaws and heads can only be operated when all joysticks are in centre.
If a pipe is detected in the grip head (grip jaw closed), roller jaw and guide heads
must be closed before entering auto sequence mode. The grip jaw must be detected
closed before entering auto sequence mode.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 32 of 106

Rotation and tilt of the PUE is included in the auto sequences.
Opening/Closing of the FB latches is included in the auto sequences.
Auto sequences can be cancelled by pushing the Cancel Auto Seq. button at the left
HR keypad, or by selecting manual mode.
Auto sequences can only be cancelled when all joysticks are in centre.
To pick a stand from the FB, all latches outside the target slot must be opened
before the arms can be retracted.

2.5.2 Selecting Target for Auto Sequence

Before each auto sequence you must tell the control system where to go by preselecting
a target. Totally, the following targets are available (differs depending on installed
equipment):

Single FB Slot
FB Row Area
HR parking position (NB: There is no auto sequence to this target, only guidance.)
WCs
TCs
FB
Stand Building Latch (SBL)
CWMs
MHs
Standbuilding Tower.

Depending on the present HR position and condition (prehistory and loaded or
unloaded), the control system will automatically (at the Operator Messages field)
suggest the next target and sequence. The suggestion can be accepted by pushing the
button on top of the left HR joystick, or manually select another target. This manual
target selection takes place as follows:

The first four listed targets are selected simply by selecting the belonging target keypad
button. The FB selections are done as follows.

2.5.2.1 Single FB Slot

A single FB slot is selected by the keypad buttons for FB navigation (the arrowhead
buttons), and at the same time observing the FB cursor moving at the FB displays.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 33 of 106

2.5.2.2 FB Row Area

The FB row area selection is used to preselect one or more adjacent FB rows, from
which the HR during the next series of auto sequences automatically will select stand
placement in or pickup from. The first stand will automatically be stored at the innermost
(and vacant) position in the row with lowest number. The next stand will be stored in the
next row, at the same slot number as in the first row. If that slot is occupied, the nearest
free slot in that row is selected. And so on. The same principle applies when stands are
picked up from the FB, except that the outermost stand then repeatedly is picked from
each selected row. The FB rows area is selected as follows:

Select the FB display. If a row area already has been selected, the numbers of these
rows will be highlighted.
To select a new row area, click the Menu i-button, and at the appearing Pop-up
Menu, select the Row Selection pop-up. At this pop-up, fill in the Row From and Row
To and click Exit. (Example: Rows 2 through 5 are selected.)
Back at the FB Main or FB Aux display; check that the row numbers of the new area
are highlighted.

Row selection pop-up

FB Row Area with Selection of First Slot

After the FB row area has been selected (as described above) the operator can add a
selection of the first slot in the coming series. The slot must be inside the selected rows
and the selection is done as described above for the single FB slot. By controlling the
position of the first stand like this, it is possible to store the stands only in the outer slots
of the selected rows and thereby save time during tripping. The FBs storage capacity is
however reduced by this, and the operator must be sure that he has room for all stands
to be stored.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 34 of 106

2.6 Auto Sequence for Tripping In or drilling mode

Tripping in means returning stands to the WC after that they have been pulled up and
then temporarily stored in the FB. The auto sequences for tripping in are run between
FB and WC.

2.6.1 Preparations

The stands are stored in the FB, ready for reinstallation in the WC. HR operates in
manual mode, positioned at WC and is unloaded. The arms operate in parallel and
both guide heads are open.
Select FB row(s) to pick the stand(s) from. (More details in the Selecting FB Rows
for Auto Sequence support procedure.)
If the automatically suggested slot is not OK, select manually the target slot to pick
the first stand from (see 2.14.1.2 Selecting Target Slot in FB support procedure).
At the Setup display, if you want the HT operation to be included in the auto
sequences, check the HT Enable Auto Sequence checkbox. Also verify that the HT
is ready for operation. If you dont want the HT operation to be included, verify that
the checkbox is unchecked.
At the Setup display, if you want the Doper operation to be included in the auto
sequences, check the Doper Enable Auto Sequence checkbox. Also verify that the
Doper is ready for operation. If you dont want the doper operation to be included,
verify that the checkbox is unchecked.

NOTE: AUTO SEQUENCES CAN BE INTERRUPTED/CANCELLED BY PUSHING
THE CANCEL AUTO SEQ. KEYPAD BUTTON. ONGOING MOVEMENTS CAN BE
STOPPED BY LETTING THE LEFT JOYSTICK RETURN TO NEUTRAL.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 35 of 106

2.6.2 Unloaded travel from WC to FB, for picking stand

Description below describes the auto sequence for unloaded travel to FB target slot. A
valid target slot has been selected before start of the auto sequence and HR is not in a
FB slot position.

Conditions to be fulfilled before auto sequence:
PUE dismounted.
Pipe type in selected row equal to selected pipe type.
Target slot is occupied.
Slot before target slot unoccupied.
Upper arm guide head open.
Roller jaw open.
Grip jaw open.
Tail arm guide head open.
No active auto programs running in controllers.
(A suggested target position in the fingerboard is selected on the operators
display. If no other selection is done, this will be the target position.)

Auto Sequence:
Operator Select target slot in the FB.
Operator Push the button on left joystick.
o Auto Sequence starts.
o HR Speed High selected.
Operator Push the left joystick forwards for speed control.
o All arms retract.
o Trolley travels, slew rotates and Main arm elevates to target position.
Operator Push the joystick out of centre.

Pipe detection when extending into SBL:
If distance to target slot > 1 slot depth:
o All arms stops.
Abort Auto Sequence.

o All arms extend to target slot.

If One Push for Grip Pipe in Fingerboard is selected:
o Upper arm guide head closes. Roller jaw close. Tail arm guide head closes.
o Grip jaw close. FB latches open.
o Auto select next target (MH or WC).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 36 of 106

If One Push for Grip Pipe in Fingerboard is not selected:
Operator Push button on left joystick.
o Upper arm guide head closes.
o Roller jaw close.
o Tail arm guide head closes.
o Grip jaw close.
o FB latches open.

End of Auto Sequence. HR is ready for travel.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 37 of 106

2.6.3 Loaded travel from FB to WC, with stand

HR axis inside selected slot/row position area.
PUE dismounted.
Upper arm guide head closed.
Roller jaw closed.
Grip jaw closed.
Tail arm guide head closed.
Elevation grip not too high/low.
No active programs running in controllers

At this stage the control system suggests a new auto sequence to bring the gripped
stand from the FB to the WC. The WC is automatically suggested as target. If another
target is preferred, it must be selected at the keypad.

Auto Sequence:
Operator Select a WC (MW or AW) as target.
o Manual grip the pipe at correct height.
o Manual hoist the pipe above stick up height.
o FB latches opens.

If expected/actual pipe weight < 3500 kg:
o HR high speed is selected.
If expected/actual pipe weight 3500 kg:
o HR low speed is selected.

o Main arm elevates up 0.2m above setback.

If Doper is selected on HT:
o All arms retract. Main arm elevates to doper height +0.2m.
If Doper is not selected on HT:
o All arms retract. Main arm elevates to defined stickup
height +0.3m

o Slew rotates to target position. Trolley travels to target position. FB
latches closes.

If EBT mode not selected:
Operator Push the left joystick to centre and forwards for
speed control.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 38 of 106

If Doper selected on HT:
o Arms extend to correct position for HT doper.
o Operator Run HT for dope pin end.
When doper is finished and removed;
Operator Push joystick out of centre.

o All arms extend to target. Main arm elevates to stickup height +0.3m.

Operator Push the left joystick to centre and forwards for speed control.
o Main arm lowers until its unloaded and the winch stops automatically.
Operator Push the button on the left joystick.
o Pipe pusher on upper and tail arm off. Grip jaw opens.
o Operator, make up connection with HT.
o When HT make up signal is received, pipe pusher on upper and tail
arm On.
o Observe that Elevator on TD is connected to stand.
When TD elevator is connected to stand:
o Main arm grip jaw, tail arm guide head and upper arm guide
head opens.
Operator makes up connection with HT.
When stand have been delivered to TD elevator;
o Roller jaw open.

If EBT mode selected:
speed control.
o Arms extend to target position, in front of stickup. Main arm
elevates to stickup height +0.3m.
speed control.
o Main arm lowers until its unloaded in the TD elevator. The
Main arm elevation stop automatically when the main arm
is unloaded.
o Grip jaw open.
When stand have been delivered to TD elevator and EBT
pipe catcher;

o Main arm roller jaw open. Tail arm guide head and upper arm guide
head opens.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 39 of 106

2.7 Auto Sequence for Tripping Out

Tripping out means: Pulling the drillstring up and out of the WC, splitting the string into
stands and temporarily store the stands in the FB.

2.7.1 Preparations

Starting point: The drillstring is ready to be tripped out, whereby the stands will be
placed in the FB. One stand has been broken out and is awaiting pickup at the WC.
The HR is unloaded and facing the FB. The arms operate in parallel and can be
extended or retracted.
Verify visually that both guide heads (all jaws) are open.
Select FB rows to place the stands in (see 2.14.1.1 Selecting FB Rows for Auto
Sequence section). Later the HR will suggest placement in these rows only.
The rows must be selected so that there is room in the FB for all upcoming stands.
The slot to place the first stand in cannot be selected yet.
Select the FB as target.

CANCEL AUTO SEQ. KEYPAD BUTTON. ONGOING MOVEMENTS CAN BE

2.7.2 Loaded travel from WC to FB, with a stand

HR axis inside MW or AW slot position area.
PUE Dismounted.
Target slot not occupied.
Slot before target not occupied.
Pipe-type equal to selected pipe.
Roller jaw closed.
Grip jaw closed.
(Assume that the pin end is elevated to defined stickup height.)
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 40 of 106

Auto Sequence:
Operator Select a target slot in the FB.
o Manual hoist the pipe above stickup height.



o Main arm elevates up 0.3m from stickup height.
o Arms retract. Main arm elevates to trolley height +0.3m.
o Slew rotates to target position. Trolley travels to target position.
o All latches opens included target latch.
o Arms extend to target position. Main arm elevates to 0.3m above setback.
o FB latches closes.
o Main arm elevates toward setback. Main arm elevation stops automatically
when main arm is unloaded.
o Grip jaw opens.
o Main Arm roller jaw, tail arm guide head and upper arm guide head opens.
o Pre-selection of last MH/WC target (prepared unload for picking next stand).
End of Auto Sequence. HR is ready for travel

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 41 of 106

2.7.3 Unloaded travel from FB to WC, for picking up a stand

Unloaded travel from FB to WC. Assume that the HT has broken out the stand before
HR is connected to stand.

HR axis inside selected slot/row position area or in a random position.
PUE dismounted.
Roller jaw open.
Grip jaw open.
No active programs running in controllers.
(Assume that the HT has broken out the stand before HR connects to stand.)

Auto Sequence:
Operator Select WC as target.
o All slots closed (if open status).
o All arms retract.
o Trolley travels to target position. Slew rotates to target position. Main arm
elevates to target position.
o All arms extend to target position.

Pipe detection when extending to WC:
IF distance to target > tolerance:
o All arms stops.

o All arms extend to target.

If One Push for Grip Pipe in Well is selected:
o All guides close. Roller jaw and grip jaw close.
o Auto select next target (FB).
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 42 of 106

If One Push for Grip Pipe in Well is not selected:
o Roller jaw close.
o Grip jaw close.
o Auto select next target (FB).


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 43 of 106

2.8 Auto Sequence for Standbuilding

Drawings: Standbuilding Sequence HR IV (If applicable)

This section describes how a stand is built from three or four single pipes (singles
picked up from the CWM), and how the stand thereafter is parked in the FB.

The sequences are run between CWM and MH/WC and between MH/WC and FB/WC.

2.8.1 Preparations

The PUE is installed at the grip head.
Correct PUE is selected at setup display.
CWM is ready for operation.
MH is ready for operation.
SBL is ready for operation (If applicable).

TD elevator not required for building stand. Opening grip jaw, roller jaw and tail arm
guide head is not a part of this auto sequence.

WARNING: NEVER LIFT A SINGLE PIPE WITH PUE BEFORE THE PUE LATCH
IS CLOSED.

WARNING: NEVER UNLATCH THE PUE BEFORE THE HELD PIPE IS SECURED
(BY MAKEUP TO ANOTHER PIPE, OR GRIPPED BY OTHER EQUIPMENT).


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 44 of 106

2.8.2 Unloaded from a random position to CWM

Sequence describes unloaded travel from a random position for picking pipe at CWM
with the PUE.

PUE mounted.
PUE enabled.
PUE open and empty.
Roller jaw open.
Grip jaw open.

Auto Sequence:
Operator Select CWM as target.

If PUE above the tail arm:
o PUE tilts forward and rotates to centre.
If PUE below the tail arm:
o Main arm retracts from pipe/stickup.
o PUE elevates above the tail arm, tilts forward and rotates
to centre.

o All arms retract.
elevates to lower position. PUE lowers to position above tail arm guide head.
o Main arm extends to target position (pick up). When PUE is outside tail arm,
PUE rotates to pick up position, tilts backward and lowered to target position.

Continuation of Auto Sequence for CWM with or without Tilt frame:

Sequence Description for CWM with Tilt frame:
o Run the CWM for tread the pipe into the PUE and lower the
tilt frame so the pipe is in the PUE.
o PUE latch closes.
o Manual mode is selected.
o Tail arm selected.
END of Auto Sequence.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 45 of 106

Manually operations:
Operator manually:
o Elevate pipe from horizontal to vertical position. (Operator
locks the pin end to the pipe lifter by the moped or shuttle on
the CWM if required, or use the catwalk monkey (manual).)
o Extend tail arm guide head onto pipe.
o Close tail arm guide head.
o Winch up/down until pin end is in catwalk floor height.

Sequence Description for CWM without Tilt frame:

Operator manually:
o Operate winch up until the pipe is inside the PUE.
o Close PUE latch.
the CWM if required, or use the catwalk monkey (manual)).

HR is ready for travel.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 46 of 106

2.8.3 Unloaded from MH or WC to CWM

Sequence describes unloaded travel from MH or WC position for picking pipe at CWM
with the PUE.

HR inside MH or WC position.
Tail arm retracted.
HR unloaded
PUE mounted
PUE enabled.
PUE open and empty.
Roller jaw open.
Grip jaw open.

Auto Sequence:

If main arm is below tail arm:
o Main arm retracts, clear of stickup.
o PUE hoists to position above tail arm guide head.
o Main arm retracts.
If main arm is above tail arm:
o All arms retract.

o Main arm extends to target position (pick up). When PUE is outside tail arm,
PUE rotates to pick up position, tilts backwards and lowers to target position.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 47 of 106


o PUE latch closes.

Operator manually:
o Elevate the pipe from horizontal to vertical position.
(Operator locks the pin end to the pipe lifter by the moped
or shuttle on the CWM if required, or use the catwalk
monkey (manual)).


Operator manually:
o Operate winch up until the pipe is inside the PUE.
o Close PUE latch.
the CWM if required, or use the catwalk monkey (manual)).


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 48 of 106

2.8.4 Loaded from CWM to MH or WC

HR must be inside CWM position area with a single in PUE. Hoist or lower the pipe to
catwalk floor height before sequence below is started. MH is used as an example for the
auto sequence.

HR axis inside CWM position area.
PUE enabled.
PUE closed.
Upper arm guide head opened.
Grip jaw and roller jaw opened.
Tail arm guide head closed (connected to single).
PUE is hoisted to correct position, having taken over the weight of the single. Pin
end still at CWM.
Main and tail arm operate in parallel.

Auto Sequence:
Operator Select MH or WC as target.

If doper selected on HT:
If doper not selected on HT:
o All arms retract. Main arm elevates to defined stickup height
+0.3m.

o Trolley travels to target position. Slew rotates to target position.
o Main and tail arm selected.

o Both arms extend to correct position for HT doper.
Operator Run HT for dope pin end.
When doper is finish and removed;
If doper not selected on HT:
o Both arms extend to target position. Main arm elevates to
defined stickup height +0.3m.

Operator Push the left joystick forward for lower the pin end into MH or the pin end
into the stickup box. Winch stops automatically when the pin end is approximately
0.5m inside the MH, or grip head is unloaded.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 49 of 106

o Tail arm guide head opens.
Operator Push the left joystick forwards.
o Tail Arm retracts to retracted position (mechanical end stop).
o Main arm selected.
End of Auto Sequence.

If first single in MH:
Operator manually lower the pipe to correct stickup height in the
MH and unload the pipe.
If not first single:
Operator makes up connection with HT.

Operator manually:
o Open PUE latch.
o Retract main arm until PUE is free from the pipe.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 50 of 106

2.8.5 Change Grip Position on a Double in MH

Sequence describes manual operation before transport of a Double from MH to MH or
from MH to SBL.

On rigs with two MHs: The Double has to be transported from MH2 to MH1 for making a
complete stand. Repeat subsection 2.8.3 and 2.8.4, until a Double is in MH2 and a
single in MH1.

On rigs with one MH and a SBL: The Double has to be transported from MH to SBL for
making a complete stand. Repeat subsection 2.8.3 and 2.8.4, until a Double is in MH.

Operator manually:
o Open PUE latch.
o Retract main arm until the PUE is free from the pipe.
o Operate winch down until PUE is approximately 1m above tool joint.
o Extend main arm onto pipe.
o Close grip jaw and roller jaw.
o Operate winch up until pine end is approximately 0.5m inside MH.
o Select tail arm control.
o Extend tail arm onto pipe.
o Operate winch up until the pipe is in stickup height.

HR is ready for travel to MH1 or SBL with a double.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 51 of 106

2.8.6 Loaded from MH to SBL

The Auto Sequence describes running a double from MH to SBL. The double has to be
gripped as described in subsection 2.8.5, before the auto sequence is started.

HR axis inside MH slot position area.
SBL is selected as target.
SBL unoccupied.
PUE mounted.
PUE enabled.
PUE open and empty.
Roller jaw closed.
Grip jaw closed.
(Assume that the pin end is adjusted to defined stickup height.)

Auto Sequence:
o Main and tail arm is selected.
o SBL opens.

o HR Speed High is selected.

o Main arm elevates up 0.3m.
o Main and tail arm retracts. Main arm elevates to trolley height +0.3m.
o Main and tail arm extends to target position. Main arm elevates to setback
height +0.3m.
o SBL closes.
o Grip jaw open.
o Tail arm guide head opens. Roller jaw open.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 52 of 106

2.8.7 Unloaded from a random position to SBL

Auto Sequence describes running HR unloaded from a random position to SBL.

HR axis inside CWM position or a random position.
SBL (slot) selected.
SBL (slot) is occupied
PUE mounted.
PUE enabled.
PUE opened.
Roller main arm open.
Grip jaw open.

Auto Sequence:
Operator Select SBL in the FB.

o All arms retract.

o Trolley travel, slew rotated and main arm elevate to target position.

Pipe detection when extending into SBL:
IF distance to target slot > 1 slot depth:
o All arms stops.


If One Push for Grip Pipe in Fingerboard is selected:
o Upper arm guide head closes. Roller jaw close. Tail arm
guide head closes.
o Auto select next target (MH or WC)
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 53 of 106

If One Push for Grip Pipe in Fingerboard is not selected:
o Roller jaw close.
o Grip jaw close.
o FB latches open.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 54 of 106

2.8.8 Loaded from MH to MH with a Double

Sequence describes auto sequence for running loaded with a double from MH to MH,
for placing double on top off single

Repeat subsection 2.8.3 and 2.8.4, and run a single from CWM to MH before starting
this auto sequence.

HR inside MH slot position.
PUE mounted.
PUE enabled.
PUE opened and empty.
Roller jaw closed.
Grip jaw closed.
No active auto programs running in controller.
(Assume that the pin end is hoisted to defined stickup height.)

Auto Sequence:
Operator Select MH as target.
o Start Auto Sequence.

If expected/actual pipe weight) < 3500 kg:

o Main arm elevates up 0.3m.
o Main and tail arm retracts. Main arm elevates to trolley height +0.3m.

If Doper selected on HT during standbuilding (else doper should
be deselected):
o Main and tail arm extends to correct position for HT doper.

height +0.3m.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 55 of 106

o Main arm lower pin end into MH or the pin end into the stickup box. Main arm
elevation stops automatically when the pin end is 0.5m inside the MH or in the
stickup box when grip head is unloaded.
Operator Push the left joystick forward.
o Tail arm retracts.
o Manual mode selected.

Further operations off the HR depends if the next step for HT are a make or break out
sequence the double stand.

Operator manually:
o Make up or break out of connection with HT.
o Retract HT to standby position.

The HR is ready for travel.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 56 of 106

2.8.9 Loaded from SBL to MH2 or MH1 with a Double

Sequence describes auto sequence for running loaded with a double from SBL to MH,
for placing double on top off single.

HR inside SBL position.
PUE mounted.
PUE enabled.
PUE open and empty.
Roller jaw closed.
Grip jaw closed.
(Assume that the pin end is hoisted to defined stickup height.)

Auto Sequence:
o All arms selected.
o SBL opens.

IF expected/actual pipe weight < 3500 kg:
IF expected/actual pipe weight 3500 kg:

o Main arm elevates 0.3m above setback.
o All FB latches close.

If Doper selected on HT during standbuilding (else doper should be
deselected):
o Main and tail arm extends to correct position for HT doper.

height +0.3m.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 57 of 106

elevation stops automatically when the pin end is 0.5m inside the MH, or in
the stickup box and grip head is unloaded.
o Tail Arm retracts.

Further operations off the HR depends if the next step for HT are a make up or break
out sequence of the double stand.

Operator manually:
o Make up or break out connection with HT.

The HR is ready for travel.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 58 of 106

2.8.10 Loaded from MH or WC to FB

Sequence describes auto sequence for HR loaded travel from MH to FB.

A stand is completed in MH for storage in FB with HR inside MH position area.

HR axis inside MH/WC position area.
Target slot in FB is unoccupied.
Slots outside target slot are unoccupied.
Pipe type equal to selected pipe.
PUE mounted.
PUE enabled.
PUE open and empty.
Main arm at correct height for gripping the pipe.
Roller jaw closed.
Grip jaw closed.
Pin end is adjusted to defined stickup height.

Auto Sequence:
Operator Select a target slot in the FB.


o Main arm elevates up 0.3m from stickup height. PUE tilts forward and rotates
to centre.
o All latches opens included target latch.
o Arms extend to target position. Main arm elevates to 0.3m above setback.
o FB latches closes.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 59 of 106

o Grip jaw open.
o Roller jaw, tail arm guide head and upper arm guide head opens.
o Pre-selection of last MH/WC target (prepared unload for picking next stand).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 60 of 106

2.8.11 Unloaded from FB to CWM

Auto Sequence describes unloaded travel from FB position for picking pipe at CWM with
the PUE.

HR inside fingerboard area.
PUE mounted.
PUE enabled.
PUE open and empty.
Roller jaw open.
Grip jaw open.
Upper arm guide head open

Auto Sequence:
o All slots closed (if open status).
o All arms retract.
o Main arm extends to target position (pick up). When PUE outside tail arm,
PUE rotates to pick up position, tilts backwards and lowers to target position.


o PUE latch closes.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 61 of 106

Operator manually:
monkey (manual)).

END of Auto sequence.

Operator manually:
o Winch up until the pipe is inside the PUE.
o Close the PUE latch.
monkey (manual)).


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 62 of 106

2.8.12 Loaded from MH or WC to WC

HR inside WC/MH position.
PUE mounted/dismounted. Empty if mounted.
PUE open (if mounted).
Main arm at correct gripping height.
Roller jaw closed.
Grip jaw closed.
The pin end is at the defined stickup height.

After delivery at the target, the TD elevator must be latched on the stand before the HR
heads are opened.

Auto Sequence:
Operator Select a WC as target.
Operator Push the button on left joystick


o Main arm elevates up 0.3m from stickup height. (PUE tilts forward and rotates
to centre, if mounted.)

If Doper is selected on HT:
If Doper is not selected on HT:
o All arms retract. Main arm elevates to defined stickup height
+0.3m.

o Slew rotates to target position. Trolley travels to target position
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 63 of 106

Continuation of Auto Sequence with EBT mode not selected or selected:

If EBT mode not selected:
speed control.

o Extend arms to correct position for HT doper.
Operator Run HT to dope pin end.

o Arms extend to target position. Main arm elevates to stickup
height +0.3m.

Operator Push the left joystick to centre, then forward for
speed control.
o Main arm lowers until its unloaded. The winch stops
automatically when the main arm is unloaded
Operator Push the button on the left joystick
o Grip jaw, tail arm guide head and upper arm guide
head opens.
Operator makes up connection.
When stand have been delivered to TD elevator;
o Roller jaw open

If EBT mode selected:
Operator Push the left joystick to centre and forward for
speed control.
o Arms extend to target position, in front of stickup. Main arm
elevates to stickup height +0.3m.
Operator Push the left joystick to centre, then forward for
speed control.
o Main arm lowers until its unloaded in the TD elevator. The
winch stops automatically when the main arm is unloaded.
o Grip jaw open.
When the stand has been delivered to TD elevator and EBT pipe
catcher, Operator Push the button on the left joystick.
o Roller jaw, tail arm guide head and upper arm guide
head opens.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 64 of 106

2.9 Auto Sequence for Building down Stand

WARNING: NEVER LIFT A SINGLE PIPE WITH PUE BEFORE THE PUE LATCH
IS CLOSED.

WARNING: NEVER UNLATCH THE PUE BEFORE THE HELD PIPE IS SECURED
(BY MAKEUP TO ANOTHER PIPE, OR GRIPPED BY OTHER EQUIPMENT).


Before a stand can be broken down, it has to be transported to MH/WC from the FB or
WC. This section describes the auto sequences for breaking down stand (split it up in
single pipes), and return of the single pipes to the CWM.

The sequence for building down (and build) stands depend on the depth of the MH, and
if the pipes are range 2 or 3 and what kind of support the stand have during
building/braking down (LBD: Loaded Brake Down).

General description building down in MH, 45 and 60 ft:
The stand is brought from the FB and placed in the MH. The upper double is broken out
and temporarily parked in the stand building slot or MH (depending on drillfloor layout).
The single left in the MH is transported to the CWM, and the double is thereafter
returned to the MH and is split into singles.

General description building down in MH, 95 ft:
The description is based on building down the stand in the MH. The stand is brought
from the FB and placed in the MH, where the upper single is broken out and brought to
the CWM. The remaining stand is hoisted upwards in the MH (by the running rabbit),
until the next tooljoint is at suitable work height for the HT. The second single is
thereafter broken out and brought to the CWM. Thereafter the sequence is repeated
until the last single is brought to the CWM. The overall procedure is here simpler, there
is no need for the extra transport to and from a SBL, and there is one HR target less to
deal with.

General description building down in WC:
The description is based on building down the stand in a WC. The stand is brought from
the FB and is placed in a WC, where the upper single is broken out and brought to the
CWM. The remaining stand is run upwards in the WC (run with the TD elevator), until
the next tooljoint is at suitable work height for the HT. The second single is thereafter
broken out and brought to the CWM. Thereafter the sequence is repeated until the last
single is brought to the CWM. The overall procedure is here simpler, there is no need
for the extra transport to and from a SBL, and there is one HR target less to deal with.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 65 of 106

2.9.1 Loaded from FB to WC, unload in TD elevator or onto stickup (LBD1)

Sequence describes loaded travel from FB to WC. A stand has been gripped before
start of the auto sequence, and will be unloaded in the TD elevator or onto stickup.

HR axis inside the stands slot/row position.
PUE enabled.
PUE open and empty.
If upper arm guide head is closed, all arms are selected.
If upper arm guide head is open, main and tail arm are selected.
Roller jaw closed.
Grip jaw closed.
Large grip head not mounted on main arm.

Auto Sequence:
Operator Push the button on left joystick to start the auto sequence.
o Auto sequence starts.
o FB latches opens.


Operator Push the left joystick forward for speed control.
o Trolley travels to target position. All FB latches close.
o Slew rotates to target position.
o Arms extend to target position. Main arm elevates to stickup +0.3m.

NOTE: GRIP HEAD HAS TO BE UNLOADED BEFORE PIPE IS 0.5M INTO MH/WC.

o Main arm lowers pin end into MH/WC. Winch stops automatically when the
pipe is approximately 0.5m into MH/WC.
o Grip jaw opens.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 66 of 106

Operations together with TD and HT
Further operations of the HR depends if the next step for HT are make up (the stand) or
break out (a double or a single) sequence.

If HR is unloaded on a stickup:
o Make up connection with HT.
o Link TD elevator onto the stand.
If HR is unloaded to TD elevator:
o Unload HR in TD elevator.

NOTE: VERIFY THAT THE STAND IS SECURED IN THE TD ELEVATOR

o Roller jaw, tail arm guide head and upper arm guide head opens.

HR is ready for changing grip position for brake out a single.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 67 of 106

2.9.2 Loaded from FB to MH, unload in MH or slips (LBD2)

Sequence describes loaded travel from FB to MH. A stand has been gripped before the
start of the auto sequence, and will be unloaded in MH or slips.

HR axis inside the stands slot/row position.
PUE mounted.
PUE enabled.
PUE open and empty.
If upper arm guide head is closed, all arms are selected.
If upper arm guide head is open, main and tail arm are selected.
Roller jaw closed.
Grip jaw closed.
Large grip head not mounted on main arm

Auto Sequence:
Operator Push the button on left joystick for starting the auto sequence.
o FB latches opens.


o Trolley travels to target position. All FB latches close. Slew rotates to
target position.
o Arms extend to target position. Main arm elevates to stickup +0.3m.
elevation stops automatically when the pin end is 0.5m inside the MH.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 68 of 106

o Main Arm selected.

HR is ready for changing grip position for brake out a single or double.

Manually operations together with HT and MH
Further operations of the HR depends if the next step for HT and MH.

Manually brake out a double:
Operator manually:
o Open upper arm guide head.
o Retract upper arm guide head.
o Lower the pipe to correct stickup height in the MH and unload it.
o Extend HT to MH.
o Open grip jaw and roller jaw.
o Elevate the main arm to correct grip height.
o Close roller jaw.
o Brake out connection with HT.
o Extend tail arm.
o Close grip jaw.

Manually brake out a single:
Operator manually:
o Lower the pipe to correct stickup height in the MH and unload it.
o Extend HT to MH.
o Elevate the main arm to correct PUE height, below upper tooljoint.
o Extend main arm/PUE.
o Close PUE latch.
o Extend tail arm.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 69 of 106

2.9.3 Loaded travel with single from MH or WC to CWM

HR axis inside MH, MW or AW.
PUE mounted.
PUE enabled.
PUE closed, holding a single.
Roller jaw open.
Grip jaw open.
Tail arm guide head closed, (connected to single).
Main and tail arm are synchronised or nearly synchronised.
(Assume that the pin end is elevated to defined stickup height.)

Auto Sequence:
Operator Push the button on left joystick for starting the auto sequence.
o Main arm elevates up 0.3m. PUE tilts forward and rotates to centre.
o All arms retract. PUE elevates to target position (target position for the pipe is
catwalk floor +0.3m).
o Main and tail arm selected.
o Main and tail arm extends to target position. Tail arm with an offset.
o PUE rotates to pick up position.

Manually operations together with CWM
Further operations of the HR depend on CWM position/operation.

Operator manually:
o Lower the pipe onto the CWM.
o Open PUE.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 70 of 106

2.9.4 Unloaded travel from CWM to MH or WC, for picking single

HR inside CW row position or a random position.
PUE mounted.
PUE enabled.
PUE open and empty.
Roller jaw open.
Grip jaw open.

After the HR has delivered the first single at the CWM, it returns unloaded to the MH or
WC to pick up another single.

Repeat the last two steps until all singles are returned to the CWM.

Auto Sequence:
o All FB latches closes.

o All arms retract.

o Main arm extends to target position (between stickup and tail arm). When
PUE is outside tail arm, PUE is lowered to target position below tooljoint on
stickup (end stop down +0.05m).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 71 of 106

Manually operations last single
Operator manually:
o Extend main arm.
o Close PUE.
o Elevate the pipe so the pin end is in top of MH.
o Extend tail arm.
o Hoist PUE to pin end at correct stickup height.

Manually operations not last single
Operator manually:
o Extend main arm.
o Close PUE.
o Elevate the pipe to correct stickup height.
o Break out connection with HT.
o Extend Tail arm.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 72 of 106

2.9.5 Unloaded from CWM (or MH or AW) to FB, for picking stand

HR axis inside CW row position or a random position.
Target selected in FB.
Target slot is unoccupied.
Slot before target slot unoccupied.
PUE mounted.
PUE enabled.
PUE opened and empty.
Roller jaw open.
Grip jaw open.
(A suggested target position in the FB is selected on the display. If no other
selection is done, this will be the target position.)

Auto Sequence:
Operator Select FB as target.
o PUE tilts forward and rotates to centre

o All arms retract.

elevates to target position.

Pipe detection when extending into SBL
If distance to target slot > 1 slot depth:
o All arms stops.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 73 of 106

One Push for Grip Pipe in Fingerboard is selected:
o Upper arm guide head closes. Roller jaw close. Tail arm guide head closes.

One Push for Grip Pipe in Fingerboard not selected:
o Roller jaw close.
o Grip jaw close.
o FB latches open.


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 74 of 106

2.9.6 Loaded travel from WC to MH (or vice versa) to MH or slips (LBD3)

The purpose is to build down stand in MH or WC, without TD. Unload in MH or slips.

HR inside MH or WC position.
PUE mounted.
PUE enabled.
PUE open and empty.
Roller jaw closed.
Grip jaw closed.

TD elevator not required for build down. Opening grip jaw, roller jaw and tail arm guide
head is not a part of this auto sequence.

Auto Sequence:
o Manual hoist the pipe to correct stickup height.


to centre.
o Slew rotates to target position. Trolley travels to target position
o Main arm lowers pin end into MH or the pin end into the stickup box. Main
arm elevation stops automatically when the pin end is 0.5m inside the MH.
Unload in MH/WC.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 75 of 106

End of Auto Sequence. HR is ready for changing grip position for brake out a single
or double.

Manually operations together with HT and MH
Further operations of the HR depends if the next step for HT and MH.

Manually operation, brake down a double:
Operator manually
o Lower the pipe to correct stickup height in the MH and unload.
o Extend HT to MH.
o Elevate the main arm to correct grip height.
o Close roller jaw.
o Extend tail arm.
o Close grip jaw.

Manually operation, brake down a single:
Operator manually:
o Lower the pipe to correct stickup height in the MH and unload.
o Extend HT to MH.
o Elevate the main arm to correct PUE height, below upper tooljoint.
o Extend main arm/PUE.
o Close PUE latch.
o Extend tail arm
o Close tail arm guide head


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 76 of 106

2.9.7 Loaded from MH to WC (unload in TD elevator or on stickup) (LBD4)

The purpose is to build down stand in WC with TD elevator. Unload in TD elevator or on
stickup. TD elevator required for builddown.

HR inside MH position.
PUE mounted.
PUE enabled.
PUE open and empty.
Roller jaw closed.
Grip jaw closed.

Auto Sequence:
o Manually grip the pipe at correct height.
o Manually hoist the pipe to correct stick up height.


to centre.

NOTE: GRIP HEAD HAS TO BE UNLOADED BEFORE PIPE IS 0.5M INTO MH/WC.

o Main arm lower pin end into WC/slips or the pin end into the stickup box. Main
arm elevation stops automatically when the pin end is 0.5m inside the WC.
Unload in TD elevator.
o Grip jaw opens.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 77 of 106

Operations together with TD and HT
Further operations of the HR depends if the next step for HT are a make or break out
sequence. Brake out a single or a double stand.

IF HR is unloaded on a stickup:
Make up connection with HT.
Retract HT to standby position.
Link TD elevator onto the stand.

IF HR is unloaded in TD elevator:
NOTE: VERIFY THAT THE STAND IS SECURED IN THE TD
ELEVATOR.
o Main Arm roller, tail arm guide head and upper arm guide
head opens.

End of Auto Sequence. HR is ready for changing grip position for brake out a single
or double.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 78 of 106

2.10 HR equipment Installation, Removal and Adjustment

2.10.1 Installation and Removal of Pickup Elevator

This procedure is valid for both PUEs. The 13 PUE is for handling of single drill pipes
and drill collars, one at a time. The 14-20 PUE is for handling of casing tubulars, one at
a time. The PUEs are not dimensioned for lifting of stands (see SWL in Product Data
Sheet section). When PUEs are unused, they will normally be parked in its hang-off
bracket. Before use, PUE will be installed at the underside of the grip head as follows:

Starting point: HR operates in manual mode and main arm is selected. No PUE is
presently installed on the grip head. PUE is parked at its hang-off bracket.
Remove linch pins (A), nuts (B) and bolts (C) at the top of the PUE.
Lower main arm (with the grip head) onto the parked PUE, until the two pin holes at
the top of the PUE are nearly aligned with the corresponding pin holes at the
underside of the grip head.

Fine tune the height alignment of the two sets of pin holes by the manual T-handle at
the top rear of the hang-off bracket.
When the holes are aligned, lock the grip head to the PUE by inserting the bolts (C).
Secure the bolts by nuts (B) and linch pins (A).
Connect the hydraulic hoses between the grip head and the PUE. The hoses are
marked and have quick couplings.
Check that:
o for the PUE 13 , the correct retention bowl is installed in the PUE. Change
the bowl and adjust the PUE if necessary. See the 2.10.2 Changing Retention
Bowl of 13 Elevator section. (Changing the bowl is easier when the PUE is
removed from the hang-off bracket.)
o for the PUE 14-20, the correct set of adaptor plates is installed in the PUE
and change the set if necessary. Each set consists of one hold plate, two
latch plates and two balancing plates, as shown in the drawings. No width
adjustment is needed for this PUE while changing from one set of plates to
another, see 2.10.3 Changing Adaptor Plates on Pickup Elevator 14-20.
Release the PUE from the hang-off bracket by loosening/disconnecting the chains.
C
B
A
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 79 of 106

At the Setup display, by check the belonging elevator checkbox. (Uncheck when the
PUE later is removed from the grip head.)

The PUE is removed and parked in reverse order. Check that the PUE 14-20 is tilted
backwards and rotated to the centre position before it is parked (hung off). (For the PUE
13 it doesnt matter what tilt and slew position the PUE is in when it is being parked).
Secure the PUE properly to the hang-off bracket (by the chains) before disconnecting
PUE from the grip head.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 80 of 106

2.10.2 Changing Retention Bowl of 13 Pickup Elevator

Drawings: Dual Range El. 13 . Body Assy.
Tubular Retention Bowls 13 , Assembly

A series of retention bowls is used to prepare the PUE 13 for handling the different
sizes of single drill pipes, drill collars and casing tubulars. The bowl suiting the pipe size
and type to be handled is installed in the PUE head.

The PUE is also referred to as a dual-range elevator, which means that its overall
OD 2 13 size range is split in two sub-ranges. The lower sub-range covers
3 9 and the upper covers 10 13 . When passing from one sub-range to
another the width of the PUE head must be adjusted manually, in addition to changing
the bowl.

The bowl is changed as follows:

Starting point: PUE head is tilted forward, and the head is located at suitable height
for work access.
Remove the bowl presently installed the PUE by pulling down the two spring-return
lock pins (1) and pulling out the bowl (2). There is one lock pin on each side of the
PUE head. It is recommended that one person pulls the lock pins, while another
person pulls out the bowl.

Adjust the head width (3) at its horizontal spindle (marked red in the illustration)
using an 11mm spanner (if the new bowl belongs to another sub-range than the
previous one). Adjust the spindle from one end position to the opposite.

NOTE: NO INTERMEDIATE POSITIONS ARE ALLOWED!

Keep the two spring-return lock pins pulled down (1) while inserting the new bowl.
Push the bowl in all the way and confirm visually that the lock pins have entered the
corresponding pin holes in the bowl when they are released.
3
3
1
2
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 81 of 106

2.10.3 Changing Adaptor Plates on Pickup Elevator 14-20

A number of sets of adaptor plates (consists of one hold plate (1), two latch plates (2)
and two balancing plates (3)) can be used in the PUE 14-20 for handling the different
sizes of single drill pipes, drill collars and casing tubulars. The adaptor plates suiting the
pipe size and type to be handled are installed in the PUE head.

The bowl is changed as follows:

Starting point: PUE head is tilted forward, and the head is located at suitable height
for work access.

Remove the eight countersunk bolts (4) fastening the hold plate and latch plates.
Remove the hold plate and latch plates.
Remove the bolts (5) that hold the balancing plates on the other side of the PUE.
Pull out the balancing plates.
Store the adaptor plates.

New or other adaptor plates are installed in reverse order

5
4
2
3
1
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 82 of 106

2.10.4 Installation / Removal of Tail Arm Guide Heads

Conditions: One Guide Head installed and the other ready at the drillfloor.
Lifting arrangement available for lifting Guide Heads.
Access to installed Guide Head.

WARNING: ALWAYS USE CORRECT SAFETY EQUIPMENT WHEN WORKING AT
HEIGHT. RISK FOR FALLING DOWN.

The procedures are valid for installation and removal for all Guide Heads.

2.10.4.1 Removal of installed Guide Head

Starting point: HR is parked adjoining the exchange unit, operates in manual mode
and tail arm is selected.
Extend the Tail Arm fully.
Lower lifting arrangement and connect them to the eye bolts (A) on the Guide Head.
Release the six hydraulic and electric quick connectors (B).
Remove the locking pin (C) and swing the bracket aside.
Remove the bolt (D) in the back.
Push the Guide Head out of its place until it hangs freely in the lifting arrangement.
Lower the Guide head.
Disconnect the lifting arrangement from the eye bolts on the Guide Head
Store the Guide Head.
C
B
A
D
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 83 of 106

2.10.4.2 Installation of Guide Head

Connect the lifting arrangement in the eye bolts (A) on the Guide Head to be
installed.
Hoist the Guide Head.
Slide the Guide Head into the Pipe indicator. Carefully!
Replace the bolt (D) in the Guide Head.
Adjust the bolt (D) and replace the bracket under the head of the bolt.
Replace the locking pin (C).
Connect the hydraulic and electric quick connectors (B).
Disconnect the lifting arrangement from the Guide Head eye bolts.
Check/Uncheck the checkbox for Tail Arm Guide Head in the Setup display.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 84 of 106

2.10.5 Installation / Removal of Upper Arm Guide Heads

Drawings: Guide Head II 2 13
Guide Head 14 22 (If applicable)

Conditions: One Guide Head installed and the other ready at the drillfloor.
Lifting arrangement available for lifting Guide Heads.
Access to installed Guide Head.

HIGHT. RISK FOR FALLING DOWN.

The procedures are valid for both Guide Heads (Guide Head II 2 13 and Guide
Head 14 22).

2.10.5.1 Removal of installed Guide Head

Starting point: The HR is parked adjoining the exchange unit, operates in manual
mode and upper arm is selected.
Extend the Upper Guide Arm fully.
Lower lifting arrangement and connect to the eye bolts (A) on the Guide Head.

A
B
C
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 85 of 106

Release the six hydraulic and electric quick connectors (B).
Remove the locking pin (C) and open the quick connector bracket.
Remove the locking pin (D) and swing the bracket (E) aside.

Remove the bolt (F) and washer.
Push the Guide Head out of its place until it hangs freely in the lifting arrangement.
Lower the Guide head.
Disconnect the lifting arrangement from the eye bolts on the Guide Head
Store the Guide Head.

2.10.5.2 Installation of Guide Head

Connect the lifting arrangement in the eye bolts (A) on the other Guide Head.
Hoist the Guide Head.
Slide the Guide Head into the Pipe indicator. Carefully!
Replace the bolt (E) in the Guide Head.
Adjust the bolt (E) and replace the bracket (D) under the head of the bolt
Replace the locking pin.
Replace the quick connector bracket and put the locking device back in place.
Connect the hydraulic hoses to the quick connectors (B).
Close the quick connector bracket and replace the locking pin (C).
D
F
E
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 86 of 106

Adjust the proximity sensors brackets on the back. (Left image: bracket position for
standard Guide Head. Right image: bracket position for larger Guide head.)

Disconnect the lifting arrangement from the Guide Head eye bolts.
Check/Uncheck the checkbox for Tail Arm Guide Head in the Setup display.

2.10.6 Adjusting the Guide Head 2 13

Drawing: Hydraulic Flow Diagram

The installed tail guide head covers the OD 2 13 size range. This overall range
is split in the following sub-ranges:

Lower sub-range: 2 9
Upper sub-range: 10 13

If the head has been guiding pipes belonging to one sub-range and then is to guide
pipes belonging to the other sub-range, it will be necessary to adjust the head
hydraulically as follows:

Locate the spring-return proportional valve for operation of the guide heads adjust
cylinder. The valve is installed near the lower end of the vertical column and a small
ladder may be needed to reach it. The valve is marked Tail Guide Head Adjust
Cylinder and has a manual lever for operation. One lever direction is marked Upper
Range and the other direction is marked Lower Range.
If the head has been guiding pipes belonging to the lower sub-range and now is to
guide larger pipes, keep the manual lever affected in the Upper Range direction until
the adjust cylinder stops moving (verify visually). This is expected to take ca
3 seconds. Then let the lever return to neutral.
If the head has been guiding pipes belonging to the upper sub-range and now is to
guide smaller pipes, keep the manual lever affected in the Lower Range direction
until the adjust cylinder stops moving.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 87 of 106

2.10.7 Installation / Removal of Gripper Heads on Main Arm

Drawings: Gripper Head 3 13
Gripper Head 14 22
Grip Head, Quick Release Adaptor
Main Arm, Head Lug Assembly

Conditions: One Gripper Head installed and the other ready for installation.
Lifting arrangement available for lifting Gripper Heads.
Secondary lifting arrangement/chain tackle with adjustable length
possibilities for rotating Gripper Head around its Center of Gravity.
Access to installed Gripper Head.

HIGHT. RISK FOR FALLING DOWN!

WARNING: RISK OF CRUSHING INJURIES!

The procedures are valid for installation and removal for both Gripper Heads.

2.10.7.1 Removal of installed Gripper Head

Starting point: The HR is parked adjoining the exchange unit, operates in manual
mode and main arm is selected.
Locate and extend the main arm so that the Gripper Head can be reached.
Shut Down HR.
Lower lifting arrangement (1) and connect to holes on the Gripper Head Roller jaw.
Connect a secondary lifting arrangement/chain tackle (2) to the Quick Release
Adaptor lifting holes.

Disconnect the hydraulic and electric quick connectors.
Remove the locking pin and take out the mechanical stop for the gripper head lock
cylinder on the Main Arm Head Lug.
Take a safe distance from the HR and Start the HR.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 88 of 106

Retract the gripper head lock cylinder (from Service Display in Cyberbase
Attachment or with corresponding leaver).
Shut Down HR.
Lower the secondary lifting arrangement/chain tackle so the Gripper Head rotates
until the Gripper Head doesnt rotate anymore.

Lift the Gripper Head until it is lifted out from the Main Arm and hangs freely.
Swing the Gripper Head a little bit away from the Main Arm and lower Gripper Head.
Park the Gripper Head and release the lifting arrangements.

2.10.7.2 Installation of Gripper Head

Starting point: HR is turned off. Lifting device is hanging freely and lowered to the
parked Gripper Head.
Connect the lifting arrangement (1) in the holes on the Gripper Head Roller jaw.
Connect a secondary lifting arrangement/chain tackle (2) to the Quick Release
Adaptor lifting holes.

Hoist the Gripper Head to the Main Arm.
Lower the secondary lifting arrangement/chain tackle so the Gripper Head rotates
until the Gripper Head doesnt rotate anymore.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 89 of 106

Adjust the Gripper Head position so that it hangs in the hooks on the Quick
Release Adaptor on the Main Arm Head Lug.
Lift the Gripper Head in place with the secondary lifting arrangement/chain tackle.
Take a safe distance from the HR and start the HR.
Extend the gripper head lock cylinder (from HR Misc Service display in Cyberbase
Controls or with corresponding leaver).
Shut down HR.
Assemble the mechanical stop for the lock-cylinder.
Connect the hydraulic and electric quick connectors.
Release and remove the lifting arrangements.
Start the HR and make sure that the installed Gripper Head is detected in the
Service Display.

If the installed Gripper Head isnt detected in the Service display, check the electrical
connections. Contact NOV service support if PLC does not detect the installed Gripper
Head in the display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 90 of 106

2.10.8 Using the Lifting Tool (If applicable)

The lifting tool is supplied with the HR main and can be borrowed by the HR aux. The
total SWL of the tool is 6 tons by hanging a chain sling in the middle shackle M02 or
3 tons x 2 by using the two shackles M01. The load has to be distributed evenly
amongst the two M02 shackles to avoid overstressing the grip head.

The grip head is used to grab the lifting tool form its hang off bracket which is fastened
in the derrick. The lifting tool is secured in the bracket by its two hair pins M04 and the
wire straps M03. After its use the lifting tools should be returned to its bracket secured
with the hair pins M04 and the wire straps M03.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 91 of 106

2.11 Service & Emergency Travel Mode Operation

Service & emergency travel mode (emergency travel) is used to move the HR during
various service operations and in emergencies. By emergencies is meant situations
where the axis controller system breaks down, hardware fault on the axis encoders or
other error in the control system.

The mode is characterized by open loop control. Only one movement (like one of the
arms or one of the trolleys) can be carried out at a time. All the end stops in the axis
monitoring system are disabled. Overload and anti collision protection is not overridden
and in function.

During emergency travel the load holding valves or load holding brake for the selected
movement (axis) is off when the joystick is moved from neutral. When the joystick is
returned to neutral, the load holding valve/brake is on.

Grip head, guide head and singles pickup elevator are available for normal manual
operation when the HR operates in service & emergency travel mode.

2.11.1 Restrictions in Service & Emergency Travel Mode

Power Ready signal is needed before the mode can be entered. Details below.
All joysticks must be in neutral before the mode can be selected/deselected.
Grip head (grip and roller jaws) and guide head can only be operated when all
joysticks are in the neutral (centre) position.
Learning operations cannot be selected.
Presetting operations can be selected.
Manual increments cannot be selected.
Software limits/end stops for axes movement is not in function.
Only one axis (movement) can be operated at a time.
Selected axis is operated in low speed.
The fingerboard latches can only be operated by manual controls.

Power Ready signal requirements:

The HPU must be running, and the ringline pressure must be above 150 barg.
The main shutdown valve in the hydraulic pressure line to the HR must be open.
The hydraulic main pressure locally at the machine must be above 150 barg.
The emergency stop must not be activated.
The communication between the screen system and the HR must be functioning.
The operator must be logged on the operator station.

Power ready is indicated by green lamps at the Service Display in the Cyberbase
Attachment.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 92 of 106

2.11.2 Emergency Travel

Service & Emergency Travel part of the Service Display is used for entering the mode.
Emergency travel can only be entered from standby mode, provided that there is a
Power Ready signal. The different parts of the HR are preset for emergency travel as
described below, and thereafter operated manually by the joysticks.

Arms: Select the preferred arm to be moved by the right joystick button. Enter
emergency travel by checking the Arms checkbox. If both arms are selected, the
checkbox will be unavailable. Deselect emergency travel by unmarking the checkbox.
The present arm position is shown to the left of the checkbox.

Main Arm Elevation: Enter emergency elevation mode by checking the Main Arm
Elevation checkbox. Go out of emergency travel by unchecking the checkbox.

Winch: Enter emergency travel by checking the Winch checkbox. Deselect emergency
travel by unmarking the checkbox. The actual position is shown to the left of the
checkbox.

Slew: Enter emergency travel by checking the Slew checkbox. Deselect emergency
travel by unmarking the checkbox. The actual position is shown to the left of the
checkbox.

WARNING: THE MAXIMUM ALLOWED HORIZONTAL DISTANCE BETWEEN THE
TROLLEYS IS 0.5M. THE TROLLEY POSITIONS MUST BE ALIGNED BEFORE
RETURNING TO NORMAL OPERATION.

Upper Trolley: Emergency trolley travel means that the two HR trolleys no longer will be
parallel (and the column not vertical) and that realignment will be required before return
to normal operation. A key switch facility is therefore included to safeguard against
accidental use. To enter emergency travel for the upper (and lower) trolley, Emergency
Travel Release key switch S2 inside the HR PLC cabinet must first be set to On. (See
2.1.4.1 Controls Inside PLC Control Cabinet section.) The Trolley Release lamp will
then be lit to indicate availability of emergency trolley travel.

Enter emergency travel by checking the Upper Trolley checkbox. Deselect emergency
travel by unmaking the checkbox. The actual position is shown to the left of the
checkbox.

Lower Trolley: Enter emergency travel by checking the Lower Trolley checkbox.
Deselect emergency travel by unmarking the checkbox. The actual position is shown to
the left of the checkbox.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 93 of 106

2.11.3 Aligning the Trolleys

Correct HR operation requires that the upper and lower trolleys are aligned (none of
them is ahead of the other) and that the column thus is perfectly vertical. During normal
operation in manual and auto sequence mode the trolleys are operated as if they were
one unit and they remain aligned. If a minor unalignment of less than 10cm occurs, it will
be corrected automatically as soon as the HR enters manual mode with all arms
retracted.

Larger unalignment may occur for instance during travel in emergency travel mode,
when the trolleys are run individually. Manual realignment is then needed before return
to normal operation. Such alignment must take place at the HR parking location (by the
parking device), where there are alignment marks for both trolleys. Part one of the
alignment procedure is thus taking the HR to the parking position:

2.11.3.1 Taking the HR to the Parking Location

If trolleys travel in manual mode is possible (the trolleys are not too unaligned), run the
HR to the parking position as described in the 2.14.7 Parking the HydraRacker section.
Dont lock the column to the parking device.

If the trolleys are too unaligned to be run in manual mode, they must first be aligned
roughly by adjusting one of the trolleys in emergency travel mode. Try thereafter to run
the HR to the parking position in manual mode.

If the HR still cannot be operated in manual mode, reset the reference point of the
trolley axes as described in the 2.14.5 Presetting Mode Operations section. Then run
the HR to the parking position in manual mode.

2.11.3.2 Trolley Alignment

Starting point: The HR has been run to the parking position and the column rests
against the parking device. The column is not yet locked to the parking device.

In emergency travel mode, fine tune the trolley positions, one trolley at a time, until they
are exactly at the alignment marks (the mark on each trolley faces the mark on/by the
belonging rails exactly). Then return to manual mode.

The trolleys are now aligned, but it may also be necessary to reset the reference point
of the trolley axes. If the reference point was set roughly to get to the parking position,
or a trolley position tacho has been changed, the reference point must be reset. See
more info in the 2.14.5 Presetting Mode Operations section.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 94 of 106

2.12 Operation by Local Hydraulic Controls

In necessary all HR movements can be operated manually by the local hydraulic
controls. See more info in the 2.1.5 Local Hydraulic Controls section.

2.13 Operation of the Anti Collision System

The ACS is a software system intended to automatically prevent collisions between the
involved machines. The ACS operates automatically and requires normally no operator
attention. For more info see the Anti Collision System section in Cyberbase Attachment.

2.14 Support Procedures

This section (see the next sub-sections) includes detailed procedures for a number of
smaller or less frequent operations for the HR or FB. Many of these operations are
referred to in the (above) main procedures for the pipehandling operations.

2.14.1.1 Selecting FB Rows for Auto Sequence

The below procedure describes how to select/preset one or more FB rows. Such
selection is typically done to predefine FB rows you want the control system to store an
incoming number of stands in or pick an outgoing number of stands from. The upcoming
automatic FB loading sequence will then suggest storing the incoming stands in these
rows only. The first stand will be stored at the innermost vacant position of the row with
lowest number. The next will be stored at the innermost position of the row with second
lowest number. And so on. The same principle applies when stands are picked from the
FB, except that the outermost stand then repeatedly is picked from each selected row.

Within the selected rows it is also possible to limit the available latch positions for
placement or pickup of stands. Time can be saved during tripping by using only the
outer latch positions. See 2.14.1.2 Selecting Target Slot in FB procedure.

Select the FB rows as follows:

Open Popup Menu from FB Main or Aux displays.
Select Row Selection pop-up.
Press Row from S-button and enter first chosen FB row.
Press Row to S-button and enter last chosen FB row.
Exit the pop-up and check that the selected rows are highlighted at the FB Main or
Aux display.

The same row number is supposed to be given if only one row is accessible.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 95 of 106

2.14.1.2 Selecting Target Slot in FB

This procedure is a continuation of the above Selecting FB Rows for Auto Sequence
procedure. After having selected the rows to be available for the FB/HR operation, the
operator can also select a target slot in the FB, i.e. the slot (within the selected rows)
where the HR will pick up or deliver the first stand.

Select target slot as follows:

Starting point: The FB rows for the auto sequence have been selected.
Use the keypad navigation buttons to move the screen pointer/cursor to the
preferred slot. When the pointer/cursor is positioned on a legal slot, its stand circle
will be highlighted.

If the planned operation is a pick up operation (picking up stands from the FB), the
target slot must be the outermost slot with a stand in it in the selected row. If the
planned operation is a delivery operation (placing stands in the FB) any slot with free
access in the selected row can be chosen as target.

When the auto sequence later is carried out, the HR will go to the selected slot position
first. Next time it will go to the same slot position in the next row (the row to the right, i.e.
the one with higher row number), provided that this row is among the selected rows.
And so on. Slot positions inside the first selection will not be considered, vacant or not.
This logic allows the stands to be placed in the outer slots during tripping out/in, which
will increase the speed. Such placement however reduces the FBs storage capacity,
and the operator must (before tripping out) be sure that there are sufficient available
slots for the entire drillstring.

2.14.2 Defining Pipe Type for Selected FB Row

Before each FB row can be used, a pipe type (type & size) must be defined for the row.
The HR will later allow only this pipe type in the row. Each available type has a type
number and the presently defined type number is shown next to each row number at the
FB Main and FB Aux displays. For more details about a rows type number, see this
type number at the Pipe Selection pop-up. For even more details, select this type
number at the Pipe Selection pop-up and then see the Pipe Data field at the Learn
display in the Cyberbace Attachment.

Defining or redefining pipe type for a FB row (one row at a time) is done as follows:

Starting point: HR is activated in standby mode. The row to be defined is empty.
Select the Pipe Selection pop-up. Thereafter select the preferred pipe type and close
the pop-up.
At the FB Main display, verify that the selected type now is shown at the Select Pipe
Type field.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 96 of 106

Using the keypad buttons for FB navigation, select as target the FB row to be
defined. At the FB Main display, verify that the FB cursor is placed in this row. It
doesnt matter what slot the cursor is in.
Select the Fingerboard Maintenance pop-up, and look at its Pipe Type for Selected
Row field. Verify that the correct new pipe type is listed at the Pipe Type line. Then
define this type for the selected row by clicking the Set Pipe Type for Selected Row
R-button. Then close the pop-up.
At the FB Main display, verify that the new type (type number) now is stated next to
the row number.

The above procedure is initially carried out for each FB row during the system
commissioning. If a new pipe type later is to be stored in a row, the procedure must be
repeated for that row. The procedure must always be repeated after each physical
adjustment of the adjustable casing rows (each of them can after manual adjustment
store three different casing sizes). Note that the control system will only allow legal
defining. Defining a drillpipe type for a casing row will thus not be allowed. Reference is
made to the Fingerboard user manual for an overview of what pipe type & size each FB
row is designed for.

Also note that pipe type 0 (zero) means No Pipe. FB rows defined for this type will be
disabled and no stands can be placed in them. It is recommended to use this defining
for rows that are taken out of use (like down for repair).

If none of the pipe types at the Pipe Selection pop-up are correct for a new pipe type to
be stored in the FB, if its possible to modify or create a completely new definition for
this type. This must then be done before applying the above procedure. Only pipe types
in the User Defined Pipe group (not the Fixed Defined Pipe group) can be altered this
way. For more info about this, see 2.14.4 Learn Mode Operations section.

2.14.3 Updating Memory with Latest FB Inventory

The HR control system normally keeps track of the FB inventory, and knows which slot
positions are occupied and which are vacant. If stands have been removed from or
added to the FB manually, it is important that the PLC memory is updated before return
to normal operation. During such update one must deal with one slot at a time.

2.14.3.1 Updating Memory with a New Stand

If a new stand physically (typically by a utility winch) has been placed in a FB slot, and
the memory is still unaware of the stand, update the memory as follows:

Starting point: HR is activated in standby mode.
Select the FB Main display, and read the pipe type (for instance type 1) preset for
the row where the new stand is placed.
Go to the Pipe Selection pop-up, and select there the same pipe type as preset for
the row in which the new stand is placed. Then close the pop-up.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 97 of 106

Using the keypad buttons for FB navigation, select (place the FB cursor in) the slot
where the new stand is placed.
Select the Fingerboard Maintenance pop-up, and verify that the pipe type selected
above now is shown in the pop-ups Pipe Type line.
Add the new pipe to the memory by clicking the pop-ups Insert Pipe button. Then
close the pop-up.
Verify that the new stand is included (dark colour inside the stand circle) at the FB
Main display.

2.14.3.2 Deleting a Stand from the Memory

If a stand physically (typically by a utility winch) has been removed from its place in the
FB, and the memory believes it is still there, update the memory as follows:

Starting point: HR in passive standby mode.
Select the FB Main display, and read the pipe type (for instance type 1) preset for
the row where the removed stand was placed.
Go to the Pipe Selection pop-up, and select there the same pipe type as preset for
the row in which the removed stand was placed. Then close the pop-up.
Using the keypad buttons for FB navigation, select (place the FB cursor in) the slot
where the removed stand was placed.
Select the Fingerboard Maintenance pop-up, and verify that the pipe type selected
above now is shown in the pop-ups Pipe Type line.
Delete the removed pipe from the memory by clicking the pop-ups Delete Pipe
button. Then close the pop-up.
Verify that the removed stand now is deleted (no longer dark colour inside the stand
circle) at the FB Main display.

2.14.4 Learn Mode Operations

Learn mode is used to program new target or pipe type information into the computer
memory. More precisely the following programming is covered:

Arms and trolleys target positioning.
Pipe data (modifying the pipe type definition for user defined stand types).
Main arm elevation setpoint for actual pipe type (adjusting the main arm gripping
height of a selected pipe type).

For detailed information about how to carry out each operation, reference is made to the
Learn Display section in the Cyberbase Attachment. That section also describes how to
enter Learn mode, which is password protected.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 98 of 106

Regarding modification of type definition for user defined stands, the typical tables
below are useful for understanding how the SWL of the HR varies not just as a function
of the main arm extension (as specified in the Product Data Sheet section), but also with
the definition of the pipe type and size. It is not recommended to select higher pressure
(and thereby SWL) than specified at the User Defined Stand pop-up, as this will
increase the need for maintenance of the grip head. The next tables are based on the
SWL 10000 kg case.

Pipe
Diameter
[ Inch ]
Drillpipe / Casing
Pressure
[ bar ]
Max load
[ kg ]
3 90 1300
4 90 2300
5 90 2500
5 90 2900
5 90 3200
6 90 3900
7 90 4200
8 90 5200
9 90 7000
9 90 7100
9 90 7300
10 90 8900
12 90 11900
13 90 12500
13 90 12500
Grip Head Capacity Drillpipe and Casing; 3 13

Pipe
Diameter
[ Inch]
Drill Collar
Pressure
[ bar ]
Max load
[ kg ]
3 180 2600
4 180 4600
5 180 5000
5 180 5800
5 180 6500
6 180 7800
7 180 8500
8 180 10500
9 180 12500
9 180 12500
9 180 12500
Grip Head Capacity Drill Collar and HWDP; 3 9
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 99 of 106

2.14.5 Presetting Mode Operations

Presetting mode is used to set the reference point of each of the HRs movement axes.
The reference points are set during commissioning, and resetting is normally only
necessary if an axis position encoder has been changed. The mode is password
protected. How to enter and use the mode is described in the Preset Display section in
the Cyberbase Attachment.

2.14.5.1 Presetting the Stickup Height

This procedure describes how to preset the defined stickup height at the WC and MH,
before carrying out auto sequences towards these targets. When an auto sequence
thereafter is run, it will deliver the pipe at the set target, and approximately 20cm above
the defined stickup height.

CAUTION: SETTING INCORRECT STICKUP HEIGHT MAY CAUSE CLASHES
DURING OPERATION IN AUTO SEQUENCE MODE.

Set the defined stickup height at WC or MH as follows:

If applicable, measure the actual/present stickup height setting.
Select the Stickup Heights pop-up.
Measure the actual/present stickup height setting.
To alter one of the settings, click the belonging S-button (set button), type in the new
value at the appearing new pop-up, and close the new pop-up.
Confirm that the new setting having appeared to the right of the S-button.
Test the new setting in auto sequence mode.

It is assumed that the operator thereafter positions the physical stickups to come at the
defined stickup height. Keeping a steady stickup also saves HT set-up time, by
eliminating adjustment the height of the wrenches before each makeup/breakout.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 100 of 106

2.14.6 HR Operation in Cold Weather

Drawings: Hydraulic flow diagrams

When the HR is started after having been shut down at low ambient temperature (below
+10C), the oil in the hydraulic lines of the HR will be cold and thick. The movements of
the hydraulically driven HR will then be slower than normal. The thick oil may also cause
problems to the HRs sensitive high precision hydraulic valves. The minimum ambient
temperature for HR operation is stated in the Product Data Sheet.

In order to prevent operating problems caused by thick oil, the HR is equipped with an
oil heating circuit per group of hydraulic proportional valves. Each circuit is switched on
by opening a flow control valve and switched off by closing the same valve. Although
these valves by design are flow control valves, they shall only be set to fully open or
fully closed position. The heating circuits allow warm oil from the HPU to circulate
through the HR, even when it is unused (but activated by selecting HR On). It is
recommended to activate them all when the ambient temperature drops below +10C
(when the cold season starts) and to leave them on until the start of the warm season.
The oil consumption is increased by the heating circuits, and the oil is heated by
passing the throttle valve in each circuit, so it is not recommended to leave the heating
circuits on during a hot summer.

For the main HR the flow control valves for activation of the heating circuits are the
following:

Hydraulic Drawing -H0002: Valve pos H24.
Hydraulic Drawing -H0006: Valve pos H55 and H57.

The recommended practice for starting a cold HR is thereby as follows:

Activate HR On. This opens the oil supply from the hydraulic ringline to the HR.
Switch on all five heating circuits, by opening fully the listed valves.
Let the oil circulate in the heating circuits for at least a half hour.
Start normal HR operation.
Switch off all heating circuits (close the listed valves) before the hot season.

If the HR still doesnt operate properly in cold weather, the reason may be that an
incorrect type of hydraulic oil is used. Check the viscosity of the oil used by the HPU,
and if necessary change to oil intended for the cold season.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 101 of 106

2.14.7 Parking the HydraRacker

Drawings: HydraRacker IV Main, General Arrangement
Parking Device, Left

The HRs parking position is at its end of the guide track. When the HR is no longer
needed, it is recommended to run it to this position. It will then be out of the way of the
other HR, who can freely reach most of FB rows and the other targets.

At the parking position the HR can just be deactivated (shut down) and will then be
hydraulically locked. This type of parking is normally sufficient. For sea travel, extreme
weather and longer shutdowns the HR shall in addition be mechanically locked at the
parking position. A parking device halfway up on the vertical column is provided for this,
and there are bolt arrangements for locking the upper and lower. All locking parts are
strictly mechanical and no remote monitoring or control is involved.

2.14.7.1 Ordinary parking of the HR

Starting point: The HR is activated and unloaded, and operates normally in manual
mode. All HR guide heads are open (so the cylinder rods are protected).
Check visually that the two claws of the parking device are set to open position (see
description below), so that clash is avoided during parking.
Select the parking position (HR Target Park) as target to get guiding to the parking
position (there is no auto sequence to this target).
In manual mode (and in accordance with the guiding arrows) run the HR to its
parking position. Start by retracting the arms fully and slewing the column until the
arms point towards the other HR. Carefully run the column to the parking position,
until its rounded back rests inside the open parking device.
Deactivate the HR by deselecting the HR On keypad button. The HR is then isolated
from the hydraulic ringline, and will be hydraulically locked at its present position.

2.14.7.2 Mechanical locking of the HR

The layout of the upper and lower beams/tracks may vary. The upper beam either has
an adapter to flip down (left image) and use to mechanically lock the upper trolley, a
welded plate with matching holes to the trolley (right image).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 102 of 106

The lower tracks basically look the same. The trolley can be fastened directly to the end
stop or have a distance (fastened on the end stop or a cylindrical one) between the
trolley and end stop. The distance is used to compensate the distance between the end
stops to the lower trolley.

The procedure to lock the HR is basically performed in the same way, independent of
the layout of the beams/tracks. The following procedure describes mechanically locking
of the HR with upper beam with adapter and lower track with distances.

Starting point: The HR is activated and unloaded. Flip the adapter on upper beam
into position (left image) and install the two distance pieces and bolts on lower guide
rail end stoppers (right image).

At the parking device, release the chain (A) holding the claws together. Remove the
two lock shafts (B) (locked with safety linch pins in the end), swing the parking
device (1) into place and lock the parking device with the lock shafts.

Spread the claws (2) so that the column can travel without crashing into the claws.
Select the parking position (HR Target Park) as target to get guiding to the parking
position (there is no auto sequence to this target).
A
B
1
2
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 103 of 106

In manual mode, retract all arms fully and slew the column until the arms point
towards the other HR.
Carefully run the column to towards the parking position. (If the lower trolley has
sweeper plates without holes, these have to be raised to prevent damage when the
HR moves the last distance to parking position. Use a brush to remove any dirt or
similar in front of the trolley wheels on the distance to the track).

NOTE: TIGHTEN BOLTS ACCORDING TO BOLT TORQUE AND LOCKING DEVICES
SECTION IN MAINTENANCE INSTRUCTIONS.

Tighten bolts in the matching holes in lower trolley (C).
Mount bolts through the adapter and into the matching holes in the upper trolley (D).

Push the claws forward so that they clamp around the column.

At the rear end of each claw there is threaded rod with nut and counter nut (E).
Loosen the counter nuts and tighten the nuts until the claws lock the column firmly to
the parking device. Then tighten the counter nuts.

The HR is now mechanically locked to the fixed structure at three places. All three
places shall always be used for mechanical locking (never just one or two of them).

Release the HR form the mechanical locking by reversing the locking procedure. It is
important to secure the parking device properly in open position, so that it isnt in the
way the next time the HR is parked.
C
D
E
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 104 of 106

2.15 Disturbance of Operation

If a disturbance occurs during HR operation, consult the Fault Finding section in the
Maintenance Instructions. The below sections are also useful.

2.15.1 Dealing with Alarms

After an alarm is activated, the natural first step is to acknowledge it at the Alarm
banner. Thereafter the cause must be investigated and remedied. How fast depends on
the nature and importance of the alarm. Detailed alarm information is available at the
Alarm display.

All process alarms, such as overload alarms, also need a process acknowledgement
before normal operation can be resumed. This acknowledgement is by pushing the HR
Confirm/Ack button at any one of the left side keypads. This acknowledgement is
parallel to, and must not be mixed with, the ordinary acknowledgement of alarms at the
alarm banner or the alarm displays.

To get back to normal, it may also be necessary to temporarily override the alarm by
keeping the HR Comn O/R keypad button pushed while manually manoeuvring out of
the alarmed position.

2.15.2 Emergency Operations

If the hydraulic or electric supplies to the HR are lost, the HR can still be manoeuvred by
certain emergency procedures (see below) and manually operated as follows.

NOTE: THE EMERGENCY OPERATIONS ARE ALSO DESCRIBED ON SIGN PLATES
LOCATED ON THE HR.

2.15.2.1 Emergency Lowering the Load

After loss of supply pressure the guaranteed holding time of the grip jaw is 30 minutes.
After that there will be a gradual loss of grip jaw pressure, which ultimately may result in
the load being lost on the floor. Therefore, if a stand was being transported when the
power is lost, it may be necessary to emergency lower and secure the stand until
normal conditions are restored.

The emergency lowering is performed by connecting the hand pump at the lower
column end to hoist winch quick connector H190-1 and close bypass valve on hand
pump. When pressure thereafter is progressively pumped up, the winch brake is
progressively released and the circuit is shortcut by pos H32 on H0006, therefore
lowering the winch and the main arm with its load to the floor. The speed of the lowering
is controlled by H33 that is preset and locked to a fixed opening. An increased braking
and/or full stop are achieved by venting the pressure at the pump.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 105 of 106

2.15.2.2 Emergency Parking of HR

The procedures are described in detail on two sign plates. One sign plate is located at
the upper trolley and the other at the lower end of the vertical column. There is a red
hand pump (totally 2 off) next to each plate. The content of the sign plates is shown in
the above listed procedure sign drawings, which refer to valve and pump position
numbers from the hydraulic flow diagrams. The emergency procedures are for
emergency lowering the load, slew, and for emergency parking. Some additional
information about these is given below.

Emergency parking is much about manually counteracting the hydraulic brakes of the
HRs hydraulic motors (lower and upper trolleys). These brakes lock the HR
hydraulically at its present position whenever the supply pressure is lost (also at the end
of ordinary movement commands from drillers cabin). After the brakes have been
counteracted, the HR shall be slewed and towed with 5 tons chain hoists, 0.5m at a time
alternating between upper and lower trolleys. Follow the emergency signs instructions.
The counteracting is by manually pumping up pressure by the hand pumps until the
brakes are released. To engage brakes again pressure is vented out through venting
valve A on hand pump. The HR shall never be left with brakes disengaged. Before
emergency parking, the operators should be familiar with how the HR is parked
normally, which is described in the 2.14.7 Parking the HydraRacker section.

Each hand pump has a flexible outlet hose with a quick connector. Before a pump is
used it must be connected to the matching quick connector leading to the hydraulic
motors whose brakes have to be released. A number of manual changeover valves
must also be set to the emergency position, as described on the sign plates. The brakes
can then be released by manual pumping. If necessary the brakes can be quickly
reengaged by venting the pumped pressure (by opening valve A on the pump).

For emergency parking the HR, the brakes of the travel motors of both the upper and
lower trolley must be released, but only for one trolley at a time! The HR can then be
towed to the parking position in steps (upper trolley one 0.5m step maximum, lower
trolley one 1m step maximum, upper trolley one 1m step maximum, and so on) by chain
hoists, connected in both travel directions, to the upper and the lower trolleys. During
such parking it is important that the column remains vertical, and one trolley must be
maximum 0.5m ahead of the other.

If the other HR is operating normally, that HR can be used for pushing (never pulling)
the inactive HR to the parking position. This is then an alternative to the use of chain
hoists. Before such pushing the active HRs upper trolley must be chained to the upper
trolley of the inactive HR and the lower trolleys must also be chained together. When
the inactive HR is secured like this, the brakes of its both upper and lower trolley travel
motors can be released at the same time. The inactive HR can thereafter carefully be
pushed to the parking position by the active HR in manual mode and thereafter locked
hydraulically or mechanically in that position.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Revision 0
Page 106 of 106

After the emergency parking, all changeover valves must be returned to the normal
position, the hand pump hoses must be disconnected, and the dust caps must be
refitted on all quick connectors.

2.16 Training Program for Operators

Training programs are available from supplier as required, but subject to separate
agreement and described separately.

2.17 Cyberbase Attachment

The Cyberbase Attachment (V5315-Z-MA-007 Attachment) is attached after this sheet
and includes descriptions of the Cyberbase Keypads, Anti Collision System, Displays
and Pop-ups.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y

RIG/PLANT
Cardiff Drillship 3
REFERENCE
V5315
REFERENCE DESCRIPTION
HydraRacker Main Well
ADDITIONAL CODE

SDRL CODE
5.3
TOTAL PGS
86

This document contains proprietary and confidential
information which belongs to National Oilwell Varco; it is
loaned for limited purposes only and remains the property
of National Oilwell Varco. Reproduction, in whole or in
part; or use of this design or distribution of this information
to others is not permitted without the express written
consent of National Oilwell Varco. This document is to be
returned to National Oilwell Varco upon request and in
any event upon completion of the use for which it was
loaned.
Copyright National Oilwell Varco - 2010

National Oilwell Varco Norway AS
Postboks 401, Lundsiden
N-4604 Kristiansand
Norway

Phone +47 38 19 20 00
Fax +47 38 19 26 04

REMARKS
Part of user manual
MAIN TAG NUMBER

DISCIPLINE

CLIENT PO NUMBER

CLIENT DOCUMENT NUMBER

DOCUMENT NUMBER

V5315-Z-MA-007 Attachment
REV

0
Hydra Racker Main Well
Cardiff 3
Operating Instructions
Cyberbase Attachment

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 3 of 86

TABLE OF CONTENTS

1 INTRODUCTION ............................................................................................................... 5
1.1 Abbreviations and definitions .................................................................................. 5
2 KEYPADS ......................................................................................................................... 6
2.1 Dead Mans Button ................................................................................................. 6
2.2 Menu Main Well Mode 3 Left Keypad .................................................................. 7
2.2.1 HydraRacker Main Well ............................................................................ 8
2.2.2 Fingerboard Target Manual Main Well .................................................... 11
2.2.3 Fingerboard Single Latch Main Well ....................................................... 13
2.3 Menu Main Well Mode 3 Right Keypad .............................................................. 15
2.3.1 HydraRacker Manual Main Well ............................................................. 16
2.3.2 HydraRacker Pick Up Elevator Main Well ............................................... 19
2.4 Menu Aux. Well Mode 6 Left Keypad ................................................................. 21
2.4.1 HydraRacker Aux. Well ........................................................................... 22
2.4.2 Fingerboard Target Manual Aux. Well .................................................... 23
2.4.3 Fingerboard Single Latch Aux. Well ........................................................ 24
2.5 Menu Aux. Well Mode 6 Right Keypad .............................................................. 25
2.5.1 HydraRacker Manual Aux. Well .............................................................. 26
2.5.2 HydraRacker Pick Up Elevator Aux. Well ............................................... 27
3 ANTI COLLISION SYSTEM ............................................................................................ 28
3.1 Main Well ACS Display ......................................................................................... 28
3.2 Aux Well ACS Display ........................................................................................... 29
4 DISPLAYS ...................................................................................................................... 30
4.1 FB Main Display with HydraRacker Status............................................................ 31
4.1.1 Menu .......................................................................................................... 34
4.1.1.1 Fingerboard Maintenance ....................................................................... 35
4.1.1.2 Pipe Selection ......................................................................................... 36
4.1.1.3 Row Selection ......................................................................................... 37
4.1.1.4 Set Stickup Height .................................................................................. 38
4.1.2 HR Negative Load ..................................................................................... 38
4.1.3 Main Arm Gripper, High Pressure at Large Diameter ................................ 39
4.2 FB Auxiliary Display with HydraRacker Status ...................................................... 40
4.3 HR Misc Displays .................................................................................................. 41
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 4 of 86

4.3.1 Service Display .......................................................................................... 41
4.3.1.1 I Max Verification Routine ....................................................................... 44
4.3.1.2 I Min Calibration Routine......................................................................... 45
4.3.2 Learn Display ............................................................................................. 46
4.3.2.1 Arms & Trolley Target Positioning .......................................................... 48
4.3.2.2 User defined Stand ................................................................................. 49
4.3.2.3 User Defined Stand Parameters ............................................................. 50
4.3.2.4 Main Arm Elevation Setpoint for Actual Pipetype .................................... 51
4.3.3 Preset Display ............................................................................................ 52
4.3.3.1 Main Arm Elevation Manual Presetting ................................................... 53
4.3.3.2 Slew Manual Presetting .......................................................................... 54
4.3.3.3 Upper, Main or Tail Arm Manual Presetting ............................................ 55
4.3.3.4 Trolleys Manual Presetting ..................................................................... 56
4.3.3.5 Gripper & Roller Presetting ..................................................................... 57
4.3.3.6 M Arm Compensator position calibration Pop-up .................................... 58
4.3.4 Setup Display ............................................................................................. 59
4.3.5 Status Display ............................................................................................ 61
4.3.5.1 Hydraulic Interface .................................................................................. 63
4.3.5.2 Upper Trolley .......................................................................................... 66
4.3.5.3 Upper Arm .............................................................................................. 67
4.3.5.4 Main Arm ................................................................................................ 70
4.3.5.5 Tail Arm .................................................................................................. 79
4.3.5.6 Slew ........................................................................................................ 82
4.3.5.7 Lower Trolley .......................................................................................... 83
4.3.5.8 Disable Prox Feedback ........................................................................... 84
4.3.5.9 Motion Control Status Errors ................................................................... 84

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 5 of 86

1 INTRODUCTION

This attachment belongs to the Operating Instructions and shows the Cyberbase
Keypads, Displays and Pop-ups used for normal remote control of the HydraRacker IV
(HR) main and auxiliary, Fingerboard (FB), Belly Board (BB) and the involved parts of
the Anti Collision System (ACS).

The illustrations are extracted from the following documents:

S01V5390-TDO-002: DCDA Keypads
S01V5390-TDO-001: DCDA Displays.

1.1 Abbreviations and definitions

ACS Anti Collision System
Aux Auxiliary
AW Auxiliary Well
BB Belly Board
Bwd/bwd backward
CCTV Closed-Circuit Television
CCW Counter Clockwise
CW Clockwise
CWM Catwalk Machine
DCDA Drilling Control and Data Acquisition
DCI Drilling Control Interface
dwn Down
FB Fingerboard
Fwd/fwd forward
HR HydraRacker IV
MW Main Well
OD Outer Diameter
PLC Programmable Logic Controller
PUE Pickup Elevator
spd Speed
SWL Safe Working Load
WC Well Centre

Operator The person assigned the responsibility of physically operating and
maintaining the equipment

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 6 of 86

2 KEYPADS

The keypads for using HR are accessed in Mode 3 (Assistant Driller Mode Main
wellcentre) and Mode 6 (Assistant Driller Mode Auxiliary wellcentre).

The keypads for the HR Main and HR Aux are identical. The only difference is that one
keypad title line has MW (Main Well) or AW (Auxiliary Well) before or after the actual
name, indicating which HR that is operated. Therefore, just one description for each HR
keypad function is described. The AW and MW are left out in the descriptions.

There are Menu buttons for swapping between the different menus and modes. There
are also Machine buttons who are assigned to a specific function. The keypad buttons
has different functions depending on what menu that is chosen/entered. The functions
for the HRs are described further below. At the right is a typical Keypad without any
specific button functions displayed.

General purpose buttons, such as the buttons for swapping to other keypads, are not
described here (or in any keypad description).

In the Description of Function Keys sections there is a Function Column (Func) where
the following commands are used:

p (Push)
When the operator press down the button, the PLC will make sure with handshaking
that the function is recognised by the machine PLC
p+h (Push & Hold)
The PLC will send a function active to the machine PLC while the operator presses
down the button.
p+c (Push & Confirm)
Acts like the normal push button except that after the button is pressed, the operator
has to confirm the action by pressing the Confirm button.
2p (Double Push)
Acts like the normal push button except that the button has to be pressed twice
within 1 second, for the function to be performed.
2.1 Dead Mans Button

The Dead Mans Button is a precaution to prevent accidental use of the joystick. A
single push on the Dead Mans Button will enable the joystick. If joystick is inactive in
the unaffected position for more than 1.5 seconds it will be disabled, and the Dead
Mans Button must be pushed again to enable joystick.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 7 of 86

2.2 Menu Main Well Mode 3 Left Keypad

Assistant Drillers Mode 3 (39x9x00), Left Keypad.

Button Func Description
Prev
Menu
Next
Esc Ack p Escape / Acknowledge
Up
Swap
Left
Down
Right
F1 p Swap to HydraRacker
F2 p Swap to Fingerboard Target Manual
F3 p Swap to Fingerboard Single Latch
F4
F5
F6
F7
F8
F9
F10
F11
F12
Js.
Js.
Js.
Js.
Js. btn
Top

Js. btn
Front

HR

FB
Target
Manual

Confirm
Menu

FB
Single
Latch
Esc
Ack

Menu

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 8 of 86

2.2.1 HydraRacker Main Well

Assistant Drillers Mode 3 (3xx0x00), Left Keypad.

Escape Acknowledge button: This button works in
conjunction with the Confirm button. When a
Push & Confirm command button is pressed
(e.g. HR ON) the Esc/Ack and the Confirm buttons
light up. In order to cancel the command press
Esc/Ack, or in order to validate the command,
press the Confirm button.
Prev p Swap to Fingerboard Single Latch
Menu p Swap to Menu
Next p Swap to Finger Board Target/ Manual
Up p+c HydraRacker On/Off
Swap
Left p+h HydraRacker Common Override
Down p HydraRacker Confirm Acknowledge
Right p HydraRacker Next Slot in Fingerbord
F1 p HydraRacker Manual Mode
F2 p Elevated Backup Tong Drilling Mode
F3 p Cancel Auto Sequence
F4 p HydraRacker to Main Well
F5 p HydraRacker Target Park
F6 p HydraRacker to Auxiliary Well
F7 p HydraRacker to Catwalk Machine
F8 p
F9
F10 p Manual Mode Increment Fine
F11 p HydraRacker Speed High
F12 p Manual Mode Increment Coarse
Js. hydraRacker Arm Down / Auto Speed
Js. Hydraracker Arm Up
Js. HydraRacker Slew Counter Clock
Wise
Js. HydraRacker Slew Clock Wise
Js. Btn
Top
p Select Auto Prog./Step Auto Seq.
Js. Btn
Front
p Dead Mans Button
HR
Manual
Mode
HR
Target
Park
HR
to
MW
EBT
Drilling
Mode
HR
Next
Slot

HR
to
AW
HR
to
CWM
HR
Speed
High

Manual
Inc.
Fine
HR
Conf.
Ack.
Manual
Inc.
Coarse
Confirm
HydraRacker

Auto/
Step
HR
Comn
O/R
Cancel
Auto
Seq.
Esc
Ack
HR
On
FB
Target
Manual

Menu
FB
Single
Latch

HydraRacker
Arm Dwn
/Auto Spd
Arm Up

Slew CCW Slew CW
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 9 of 86

HR On button: Push and confirm the button to open the HRs main shutdown valve and
connect the HR to the hydraulic ringline. The HR then enters standby mode, at which no
operating or setting mode is selected.
Repeat the command to shut down the HR. The HR can only be operated when the
shutdown valve is open. If the button is unavailable, the most likely cause is that one of
the emergency stops is activated.

HR Common Override button: The Common Override button is used to override control
system inhibits that do not allow the HR to be operated by the joysticks. Keep the button
pushed while carefully moving the HR by the joysticks.

HR Confirm Acknowledge button: The button is for process acknowledgements, i.e.
when the PLC needs a separate confirmation from the operator to return to normal
operation. If manual mode for instance is selected, but the HR cannot be operated by
the joysticks, the typical first remedy is to push this button. The button should not be
mixed with the Alarm Acknowledge buttons of the alarm system (at the alarm banner
and the alarm displays).

HR next slot button: Push button to choose target/slot within the preselected area for the
auto sequence (also se description for the Row Selection Pop-up).

HR Manual Mode button: Push button to select manual mode operation for the HR.

EBT Drilling Mode button: During drilling, by pressing this button, the HR will stop 0.5m
in front of the target area prior to delivery the pipe to the elevated backup tong.

Cancel Auto Sequence button: Push button to cancel or interrupt an activated auto
sequence before or during execution. The button also resets the auto sequence.

HR to Main Well button: Push button to select MW as target for the auto sequence.
Deselect by selecting another target.

HR Target Park button: Push button to select the HRs designated parking position (at
its end of the horizontal guide track) as target, to benefit from the Target Guidance at
the FB Main and FB Aux screen displays. Note that there is no auto sequence to the
Park target. Deselect by selecting another target.

HR to Auxiliary Well button: Push button to select AW as target for the auto sequence.
Deselect by selecting another target.

HR to Catwalk Machine button: Push button to select the HR pickup/delivery position at
the CWM as target for an auto sequence (or to benefit from the Target Guidance at the
FB Main and FB Aux screen displays). Deselect by selecting another target.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 10 of 86

Manual Increment Fine button: While in manual mode, push the button to pre-select fine
increments (steps of 1mm or 0.1 degree) when operating HR along a movement axis.
Deselect by pushing the button again, or by pushing the Manual Increment Coarse
button. When the button is selected, you get one small (fine) step ahead each time the
joystick is affected out of centre. Increments are used when a more precise positioning
of the HR is needed in manual mode.

HR Speed High button: During unloaded HR travel in manual mode, push the button to
select high speed mode. All HR movements will be speeded up. Push again to deselect.
During operation in auto sequence mode, high speed will be selected and deselected
automatically according to the sequence programming.

Manual Increment Coarse button: While in manual mode, push button to preselect
coarse increments (steps of 10mm or 1 degree) when operating HR along a movement
axis. Deselect by pushing the button again, or by pushing the Manual Increment Fine
button. When the button is selected, you get one course step ahead each time the
joystick is affected out of centre. Increments are used when a more precise positioning
of the HR is needed in manual mode.

Left Joystick: The joystick(s) can be moved fwd/bwd, left/right and has a pushbutton at
the top. It is used both in manual mode and auto sequence mode as follows:

Manual mode: The joysticks vertical axis is used to hoist and lower the main arm
along the vertical column. The horizontal joystick axis is used to slew the column
CCW - CW.
Auto sequence mode: After a target has been preselected, select auto sequence
mode by pushing the button on top of the left joystick. Then start the sequence by
keeping the joystick affected in the forward direction (backward direction is also
available). The speed depends on the affection on the joystick. The movement
continues as long as the joystick is affected, until the target is reached or a confirm
point is reached. At such confirm points the operator must verify that the conditions
for the next part of the auto sequence are fulfilled. Such confirmation is given by
pushing the joystick button. The sequence is thereafter continued when the joystick
is affected forward. Throughout all auto sequences the operator will be guided by the
operator messages appearing at the message field of the FB Main and FB Aux
screen displays.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 11 of 86

2.2.2 Fingerboard Target Manual Main Well


Escape Acknowledge button: See description for
the HR keypad.

HR Common Override button: See description for
the HR keypad.

HR Confirm Acknowledge button: See description
for the HR keypad.
Prev p Swap to HydraRacker
Menu p Swap to Menu
Next p Swap to Fingerboard Single Latch
Up
Swap
Right
F2 p Target One Slot Increase
F3
F4 p Target One Row Increase/Left
F5
F6 p Target One Row Decrease/Right
F7 p Target Five Rows Increase/Left
F8 p Target Slot Open
F9 p Target Five Rows Decrease/Right
F10 p All Slots Close
F11 p Target One Slot Decrease
F12 p Slots Open
Js. HydraRacker Main Arm Down / Auto
Speed
Js. HydraRacker Main Arm Up
Wise
Js. Btn
Top
Js. Btn
Front
p Dead Mans Button
HR
Manual
Mode
Row

Slot

Target
Slot
Open
Row

Row
Slot

Row
All
Slots
Close
HR
Conf.
Ack.
Slots
Open
Confirm
FB Target Manual

Auto/
Step
HR
Comn
O/R

Esc
Ack

FB
Single
Latch

Menu HR

HydraRacker
Arm Dwn/
Auto Spd
Arm Up

Slew CCW Slew CW
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 12 of 86

HR Manual Mode button: See description for the HR keypad.

Slot and Slot buttons: The two Slot buttons (one for each direction) are for
selecting a FB slot as target (target for an auto sequence) within the selected FB row.
The cursor at the FB Main or FB Aux display is moved one step/slot in the arrowhead
direction each time a button is pushed. Previous targets are automatically deselected
when one of these buttons is pushed.

Row and Row buttons: The two Row buttons (one for each direction) are for
selecting a FB row as target for an auto sequence. The cursor at the FB Main or FB Aux
display is moved one step/row in the arrowhead direction each time a button is pushed.
Previous targets are automatically deselected when one of these buttons is pushed.
Only legal rows can be selected. The cursor position is also shown by digits at the
displays FB Target field.

Row and Row buttons: Same description as for the Row and Row
buttons, but the cursor now jumps five rows per push.

Target Slot Open button: Push the button to manually open an occupied target slot.
There must be a stand in the slot, and the HR must have gripped it before the opening.
Otherwise button operation will be inhibited.

All Slots Close button: Push the button to close all slots in the FB. In reality only the
slots of a single row will be closed, since slots in one row cannot be opened while there
are open slots in another.

Slots Open button: Push the button to manually open an empty target slot and all slots
outside the target slot. If the target slot is occupied, only the empty slots outside will
open. The HR must be located at the row.

Left Joystick: See description for the HR keypad.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 13 of 86

2.2.3 Fingerboard Single Latch Main Well


the HR keypad.

the HR keypad.

HR Confirm Acknowledge button: See description
for the HR keypad.
Prev p Swap to Finger Board Target Manual
Menu p Swap to Menu
Next p Swap to HydraRacker
Up
Swap
Right
F3
F5 p+h Fingerboard Override
F8
F12 p Open Selected Slot
Speed
Wise
Js. btn
Top

Js. btn
Front
p Dead Mans Button
HR
Manual
Mode
FB
O/R
Row

Slot

Row

Row
Slot

Row
All
Slots
Close
HR
Conf.
Ack.
Open
Select.
Slot
Confirm
FB Single Latch

Auto/
Step
HR
Comn
O/R

Esc
Ack

HR Menu
FB
Target
Manual

HydraRacker
Arm Dwn/
Auto Spd
Arm Up

Slew CCW
Slew CW
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 14 of 86

HR Manual Mode button: See description for the HR keypad

Slot and Slot buttons: See description for the FB Target Manual keypad.

Row and Row buttons: See description for the FB Target Manual keypad.

Row and Row buttons: See description for the FB Target Manual keypad.

Fingerboard Override button: Push and hold the button to override control system
inhibits that otherwise would prevent FB slots from being opened. Careful!

All Slots Close button: See description for the FB Target Manual keypad.

Open Selected Slot button: First select the preferred slot by the arrowhead buttons.
Then open this slot latch by keeping the Fingerboard Override button pushed and then
pushing Selected Slot Open. The ordinary interlocks are overridden, and the HR thereby
doesnt have to be positioned at subject row to open the slot. The button is typically
used for testing the latches of empty slots. If there is a stand in the slot, the stand may
fall out, so the button must be used carefully!

Left Joystick: See description for the left HR keypad.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 15 of 86

2.3 Menu Main Well Mode 3 Right Keypad

Assistant Drillers Mode 3 (3x9x900), Right Keypad.

Prev
Menu
Next
Up
Swap
Left
Down
Right
F2 p Swap to HR Pick Up Elevator
F3 p Swap to HydraTong Auto
F4 p Swap to HydraTong Manual
F5 p Swap to Casing Tong
F6 p Swap to Mud Bucket and Doper
F7 p Swap to Elevated Backup Tong
F8
F9
F10
F11
F12
Js.
Js.
Js.
Js.
Js. btn
Top

Js. btn
Front
Dead Mans Button
HR
Manual

CT
HT
Manual
HR
PUE

MB

EBT

Confirm
Menu

HT
Auto
Esc
Ack

Menu

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 16 of 86

2.3.1 HydraRacker Manual Main Well

Assistant Drillers Mode 3 (3xxx500), Right Keypad.

the HR keypad.

the HR keypad.

Pipe Pusher On: Push button to manually turn
On/Off the Pipe Pusher on the Upper Guide arm
and Tail Arm.
Prev p Swap to Backup Tong
Menu p Swap to Menu
Next p Swap to HR Pick Up Elevator
Up
Swap
Down p Upper Guide and Tail Arm Pipe
Pusher On/Off Toggle
Right
F1 p Guide Jaw Upper Arm Close
F2 p+h Guide Jaw Upper Arm Override
F3 p Guide Jaw Upper Arm Open
F4 p Roller Jaw Main Arm Close
F5 p +h Roller Jaw Main Arm Override
F6 p Roller Jaw Main Arm Open
F7 p Gripper Jaw Main Arm Close
F8 p+h Gripper Jaw Main Arm Override
F9 p Gripper Jaw Main Arm Open
F10 p Guide Jaw Tail Arm Close
F11 p+h Guide Jaw Tail Arm Override
F12 p Guide Jaw Tail Arm Open
Js. HydraRacker Arm(s) Extend
Js. HydraRacker Arm(s) Retract
Js. HydraRacker Trolley Left
Js. Trolley Right
Js. btn
Top
p HydraRacker Arm Select
Js. btn
Front
p Dead Mans Button
Guide
Up.Arm
Close
Roller
M.Arm
O/R
Roller
M.Arm
Close
Guide
Up.Arm
O/R

Gripper
M.Arm
O/R
Roller
M.Arm
Open
Gripper
M.Arm
Close
Guide
T.Arm
O/R
Gripper
M.Arm
Open
Guide
T.Arm
Close
Pipe
Pusher
On
Guide
T.Arm
Open
Confirm
HydraRacker Manual

Arm
Sel.
HR
Comn
O/R
Guide
Up.Arm
Open
Esc
Ack

HR
PUE Menu EBT

HydraRacker
ArmsExt.
ArmsRet.
Trolley
Left
Trolley
Right
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 17 of 86

Guide Upper Arm Close button: Push button to manually close the upper arm guide
head around the pipe.

Guide Upper Arm Override button: If a control system inhibit doesnt allow the upper
arm guide head to be opened or closed manually, the override button can be kept
pushed while repeating the command. Careful!

Guide Upper Arm Open button: Push button to manually open the upper arm guide
head.

Roller Main Arm Close button: Push button to manually close the roller jaw of the grip
head. (When stands are gripped manually, the roller jaws should be closed first, then
the tail arm guide head, then the upper arm guide head, and finally the main arm grip
jaws. Open in reverse order.)

Roller Main Arm Override button: If a control system inhibit doesnt allow the roller jaws
to be opened or closed manually, the override button can be kept pushed while
repeating the command. Careful!

Roller Main Arm Open button: Push button to manually open the roller jaws of the grip
head.

Gripper Main Arm Close button: Push button to manually close the grip jaws of the grip
head.

Gripper Main Arm Override button: If a control system inhibit doesnt allow the grip
heads grip jaw to be opened or closed manually, the override button can be kept
pushed while repeating the command. Careful!

Gripper Main Arm Open button: Push button to manually open the grip jaws of the grip
head.

Guide Tail Arm Close button: Push button to manually close the tail arm guide head.

Guide Tail Arm Override button: If a control system inhibit doesnt allow the tail arms
guide head to be opened or closed manually, the override button can be kept pushed
while repeating the command. Careful!

Guide Tail Arm Open button: Push button to manually open the tail arm guide head.

Right Joystick: The right joystick is used in manual (and emergency travel) mode to
move the trolleys (horizontal joystick axis) and to extend and retract the arms (vertical
joystick axis). The speed depends on the deflection of the joystick. The button on top of
the joystick is for selecting which arm(s) to be extended or retracted when the joystick is
operated. The following arm combinations are available when repeatedly pushing the
joystick button: (see next page)

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 18 of 86

Upper guide arm
Main arm
Tail arm
Upper + Main arm
Main + Tail arm
All three arms

To see which arms are selected, look at the Target Guidance field at the FB Main or FB
Aux displays. The arrows of deselected arms will be faded down. For normal operation
all three arms shall be selected!

Selecting a combination of more than one arm will only be effective if the selected arms
first manually and independently have been adjusted to parallel position (same
extension, 10cm). The simplest way of doing this is to retract all arms fully (towards the
software end stop).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 19 of 86

2.3.2 HydraRacker Pick Up Elevator Main Well


the HR keypad.

the HR keypad.
Prev p Swap to HydraRacker Manual
Menu p Swap to Menu
Next p Swap to HydraTong Auto
Up
Swap
Down p Pick Up Elevator Selected
Right
F1 p Pick Up Elevator Close
F2 p+h Pick Up Elevator Close/Open Override
F3 p Pick Up Elevator Open
F4 p Pick Up Elevator Tilt Backward
F5 p+h Pick Up Elevator Tilt Override
F6 p Pick Up Elevator Tilt Forward
F7 p Pick Up Elevator Rotate to Pick Up
Position
F8 p+h Pick Up Elevator Rotate Override
F9 p Pick Up Elevator Rotate to Center
F11 p Guide Jaw Tail Arm Override
F12 p+h Guide Jaw Tail Arm Open
Js. HydraRackerTrolley Right
Js. btn
Top
p

HydraRackerArm Select
Js. btn
Front
p Dead Mans Button
PUE
Close
PUE
Tilt
O/R
PUE
Tilt
Bwd
PUE
Cls/Opn
O/R

PUE
Rotate
O/R
PUE
Tilt
Fwd
PUE
Rotate
Pick Up
Guide
T. Arm
O/R
PUE
Rotate
Center
Guide
T. Arm
Close
PUE
Select
Guide
T. Arm
Open
Confirm
HydraRacker PUE

Arm
Sel.
HR
Comn
O/R
PUE
Open
Esc
Ack

HT
Auto Menu
HR
Manual

HydraRacker
ArmsExt.
ArmsRet.
Trolley
Left
Trolley
Right
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 20 of 86

PUE Select button: The button is an info button only (not to be pushed). It shows the
operator if a PUE has been (installed and) selected at the HR Setup display.

PUE Close button: Push button to manually close the PUE around a single pipe, below
its upper (box end) tool joint.

PUE Cls/Opn O/R button: Push button (and hold) while repeating the desired command
to override the inhibit and close/open the PUE.

PUE Open button: Push button to open the PUE (after the pipe is gripped/secured by
other equipment). The PUE can only be opened at certain pre-programmed positions,
and when main arm is unloaded. No additional confirmation is needed to open the latch.

PUE Tilt Bwd. button: Push button to tilt PUE to the backward tilt end position (90
degrees from the forward tilt end position). The bwd tilt position is needed during pickup
of horizontal singles, at CWM. PUE tilting is only done between the end positions, not to
any intermediate positions.

PUE Tilt O/R button: Push button (and hold) while repeating the desired command to
override the inhibit and tilt the PUE. Careful!

PUE Tilt Fwd button: Push button to tilt PUE to the fwd tilt end position (90 degrees from
the bwd tilt end position). The fwd tilt position is used during pickup of vertical singles.
PUE tilting is only done between the end positions, not to intermediate positions.

PUE Rotate Pickup button: Push button to rotate PUE to the CCW end position. PUE
rotation only takes place between the end positions, not to intermediate positions.

PUE Rotate O/R button: Push button (and hold) while repeating the desired command
to override the inhibit and rotate the PUE.

PUE Rotate Center button: Push button to rotate PUE to the CW end position. PUE
rotation only takes place between the end positions, not to intermediate positions.

Guide Tail Arm Close button: Push button to manually close the tail arm guide head.

Guide Tail Arm O/R button: Push button (and hold) while repeating the desired
command to override the inhibit and close/open the PUE.

Guide Tail Arm Open button: Push button to manually open the tail arm guide head.

Right Joystick Functions: Same as for the joystick of the HR keypad (Right Side).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 21 of 86

2.4 Menu Aux. Well Mode 6 Left Keypad

Assistant Drillers Mode 6 (69x9x00), Left Keypad

Prev
Menu
Next
Up
Swap
Left
Down
Right
F2 p Swap to Fingerboard Target Manual
F3 p Swap to Fingerboard Single Latch
F4
F5
F6
F7
F8
F9
F10
F11
F12
Js.
Js.
Js.
Js.
Js. btn
Top

Js. btn
Front

HR

FB
Target
Manual

Confirm
Menu

FB
Single
Latch
Esc
Ack

Menu

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 22 of 86

2.4.1 HydraRacker Aux. Well

Assistant Drillers Mode 6 (6xx0x00), Left Keypad

See 2.2.1 HydraRacker Main Well for keypad
description.

Prev p Swap to Fingerboard Single Latch
Menu p Swap to Menu
Next p Swap to Finger Board Target/ Manual
Up p+c HydraRacker On/Off
Swap
Right p HydraRacker Next slot in Fingerbord
F2 p Elevated Backup Tong Drilling Mode
F3 p Cancel Auto Sequence
F4 p HydraRacker to Main Well
F5 p HydraRacker Target Park
F6 p HydraRacker to Auxiliary Well
F7 p HydraRacker to Catwalk Machine
F8 p
F9
F10 p Manual Mode Increment Fine
F11 p HydraRacker Speed High
F12 p Manual Mode Increment Coarse
Js. HydraRacker Arm Down / Auto Speed
Js. HydraRacker Arm Up
Wise
Js. btn
Top

Js. btn
Front
p Dead Mans Button
HR
Manual
Mode
HR
Target
Park
HR
to
MW
EBT
Drilling
Mode
HR
Next
Slot

HR
to
AW
HR
to
CWM
HR
Speed
High

Manual
Inc.
Fine
HR
Conf.
Ack.
Manual
Inc.
Coarse
Confirm
HydraRacker

Auto/
Step
HR
Comn
O/R
Cancel
Auto
Seq.
Esc
Ack
HR
On

FB
Target
Manual

Menu
FB
Single
Latch

HydraRacker
Arm Dwn/
Auto Spd
Arm Up

Slew CCW Slew CW
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 23 of 86

2.4.2 Fingerboard Target Manual Aux. Well

Assistant Drillers Mode 6 (6xx1x00), Left Keypad

See 2.2.2 Fingerboard Target Manual Main Well
for keypad description.

Prev p Swap to HydraRacker
Menu p Swap to Menu
Next p Swap to Fingerboard Single Latch
Up
Swap
Right
F3
F5
F8 p Target Slot Open
F12 p Slots Open
Speed
Js. hydraRacker Slew Counter Clock Wise
Js. btn
Top

Js. btn
Front
p Dead Mans Button
HR
Manual
Mode
Row

Slot

Target
Slot
Open
Row

Row
Slot

Row
All
Slots
Close
HR
Conf.
Ack.
Slots
Open
Confirm
FB Target Manual

Auto/
Step
HR
Comn
O/R

Esc
Ack

FB
Single
Latch

Menu HR

HydraRacker
Arm Dwn/
Auto Spd
Arm Up

Slew CCW Slew CW
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 24 of 86

2.4.3 Fingerboard Single Latch Aux. Well


See 2.2.3 Fingerboard Single Latch Main Well
for keypad description.

Prev p Swap to Finger Board Target Manual
Menu p Swap to Menu
Next p Swap to HydraRacker
Up
Swap
Right
F3
F5 p+h Fingerboard Override
F8
F12 p Open Selected Slot
Speed
Wise
Js. btn
Top

Js. btn
Front
p Dead Mans Button
HR
Manual
Mode
FB
O/R
Row

Slot

Row

Row
Slot

Row
All
Slots
Close
HR
Conf.
Ack.
Open
Select.
Slot
Confirm
FB Single Latch

Auto/
Step
HR
Comn
O/R

Esc
Ack

HR Menu
FB
Target
Manual

HydraRacker
Arm Dwn/
Auto Spd
Arm Up

Slew CCW Slew CW
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 25 of 86

2.5 Menu Aux. Well Mode 6 Right Keypad

Assistant Drillers Mode 6 (6x9x900), Right Keypad.

Prev
Menu
Next
Up
Swap
Left
Down
Right
F2 p Swap to HR Pick Up Elevator
F3 p Swap to HydraTong Auto
F4 p Swap to HydraTong Manual
F5 p Swap to Casing Tong
F6
F7 p Swap to Elevated Backup Tong
F8
F9
F10
F11
F12
Js.
Js.
Js.
Js.
Js. btn
Top

Js. btn
Front

HR
Manual
CT

HT
Manual
HR
PUE

EBT

Confirm
Menu

HT
Auto
Esc
Ack

Menu

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 26 of 86

2.5.1 HydraRacker Manual Aux. Well


See 2.3.1 HydraRacker Manual Main Well for
keypad description.

Prev p Swap to Backup Tong
Menu p Swap to Menu
Next p Swap to HR Pick Up Elevator
Up
Swap
Down p Upper and Tail Arm Pipe Pusher
On/Off Toggle
Right
F1 p Guide Jaw Upper Arm Close
F2 p+h Guide Jaw Upper Arm Override
F3 p Guide Jaw Upper Arm Open
F4 p Roller Jaw Main Arm Close
F5 p +h Roller Jaw Main Arm Override
F6 p Roller Jaw Main Arm Open
F7 p Gripper Jaw Main Arm Close
F8 p+h Gripper Jaw Main Arm Override
F9 p Gripper Jaw Main Arm Open
F11 p+h Guide Jaw Tail Arm Override
F12 p Guide Jaw Tail Arm Open
Js. hydraRacker Arm(s) Retract
Js. HydraRackerTrolley Right
Js. btn
Top
p HydraRacker Arm Select

Js. btn
Front
p Dead Mans Button
Guide
Up.Arm
Close
Roller
M.Arm
O/R
Roller
M.Arm
Close
Guide
Up.Arm
O/R

Gripper
M.Arm
O/R
Roller
M.Arm
Open
Gripper
M.Arm
Close
Guide
T.Arm
O/R
Gripper
M.Arm
Open
Guide
T.Arm
Close
Pipe
Pusher
On
Guide
T.Arm
Open
Confirm
HydraRacker Manual

Arm
Sel.
HR
Comn
O/R
Guide
Up.Arm
Open
Esc
Ack

HR
PUE Menu EBT

HydraRacker
ArmsExt.
ArmsRet.
Trolley
Left
Trolley
Right
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 27 of 86

2.5.2 HydraRacker Pick Up Elevator Aux. Well


See 2.3.2 HydraRacker Pick Up Elevator Main
Well for keypad description.

Prev p Swap to HydraRacker Manual
Menu p Swap to Menu
Next p Swap to HydraTong Auto
Up
Swap
Down p Pick Up Elevator Selected
Right
F1 p Pick Up Elevator Close
F2 p+h Pick Up Elevator Close/Open Override
F3 p Pick Up Elevator Open
F4 p Pick Up Elevator Tilt Backward
F5 p+h Pick Up Elevator Tilt Override
F6 p Pick Up Elevator Tilt Forward
F7 p Pick Up Elevator Rotate to Pick Up
Position
F8 p+h Pick Up Elevator Rotate Override
F9 p Pick Up Elevator Rotate to Center
F11 p Guide Jaw Tail Arm Override
F12 p+h Guide Jaw Tail Arm Open
Js. HydraRacker Trolley Right
Js. btn
Top
P HydraRacker Arm Select
Js. btn
Front
p Dead Mans Button
PUE
Close
PUE
Tilt
O/R
PUE
Tilt
Bwd
PUE
Cls/Opn
O/R

PUE
Rotate
O/R
PUE
Tilt
Fwd
PUE
Rotate
Pick Up
Guide
T. Arm
O/R
PUE
Rotate
Center
Guide
T. Arm
Close
PUE
Select
Guide
T. Arm
Open
Confirm
HydraRacker PUE

Arm
Sel.
HR
Comn
O/R
PUE
Open
Esc
Ack

HT
Auto Menu
HR
Manual

HydraRacker
ArmsExt.
ArmsRet.
Trolley
Left
Trolley
Right
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 28 of 86

3 ANTI COLLISION SYSTEM

The Anti Collision System (ACS) matrix screen display shows the ACS status for the
installed machines. If a machine (moving part) is moving into a zone where it can clash
into another machine (obstacle part), the ACS will stop the moving machine. The
belonging red matrix lamp will be lit at the same time. The only allowed movement for
the moving machine is then away from the obstacle. When the moving machine is out of
the hazardous zone, the lamp is put out.

Regarding the Ignored in Anti Collision function and the Released from Anti Collision
function, reference is made to the Drilling Control Interface (DCI) documentation. See
the ACS Operation and Maintenance Instructions. Also see the override switches (two
per machine) in the separate ACS control cabinet.

3.1 Main Well ACS Display

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 29 of 86

3.2 Aux Well ACS Display

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 30 of 86

4 DISPLAYS

The displays are the most important source of status monitoring information to the
HR operator.

In the displays there are different possibilities to see different available data, change
values or data (S-button), to get more information about something (i-button), to reset
values (R-button), checkboxes to check or uncheck for different choices, Radio buttons
to mark or unmark and lamps showing different status for a number of things.

S-buttons: Allows entering critical data. Use of S-button will open a pop up to enter new
values, and are used instead of direct input from user. A cancel function is available in
such set command pop-up. The set command shall be used to hinder operator from
making human errors that may cause issues for the machines, operations or
environment. For highly critical matters, password is needed to enter a new value.

i-buttons: Use this button to open a info pop-up for the corresponding equipment or
similar. The pop-up gives more information, instructions to do something, things to
choose between or in some cases how to perform something.

R-buttons: Use this button to open a pop-up window. This is a hinder for the operator to
make a human error. A cancel function is available in such set command pop-up. Push
and hold the Reset-button to confirm the reset action. Pushing the Exit-button closes the
pop-up without changing any values.

In the different types of pop-ups the following button corresponds to:

Command Information pop-up (no input from operator)
Close Closes window

Command Configuration pop-up (configuration of data)
Close Closes window. Requests saving if configuration is done without saving
Cancel Cancels action, and closes window
Apply Saves configuration (not closing the window)
OK Confirms action and closes window
Reset Resets updates not saved, closing window
Yes/no Yes/no Dialog box

Command Control pop-up (steering of machinery)
Close Closes the window
Cancel Cancels action
Confirm Confirms action
Stop Stops machine/Process. Includes equipment name on button.
Start Starts of machine/Process
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 31 of 86

4.1 FB Main Display with HydraRacker Status

Main Well target: The target is shown in the form of a cross with two concentric circles.
This cross will be aligned with the cross of the HR main arm when the HR is at this
target. In addition the following indication is included:

When HR is approaching the target and HR positioning in the X-axis direction is
correct, there will lit a green colour in the outer field between the circles.
When HR positioning in the Y-axis direction is correct there will light a green colour
inside the inner circle.
Command Confirm pop-up (confirming configuration or command)
OK Confirms action and closes window
Cancel Cancels action, and closes window
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 32 of 86

At the target both these fields will be lit green.

This target can be reached with both HRs.

HR position indicator circles: The dark circles in the horizontal guide track represent the
controlled HR. The circles move along (across) the FB rows in accordance with the
actual HR movements. The position of the main arm is shown by a white-cross cursor.
The M on the ball means that the ball represents the main HR. (For the aux HR the will
be an A.) There is also a second but faded down circle in the guide track, possibly at the
FB Aux display. This circle represents the HR that is not controlled from this cabin. The
operator can thereby follow the movements of both HRs.

FB Target field and cursor: The FB Target field shows the present position of the FB
cursor. The FB cursor has the form of a green square, and is used for navigation within
the FB. The cursor is moved by the navigation buttons of the fingerboard keypads.
When the cursor is moved to a new FB slot, this slot is automatically selected as target
for the next auto sequence.

Select Pipe Type field

Shows the used pipe size that is being handled by the HR or pipe size that is going to
be handled.

Operator Messages field

Throughout an auto sequence the operator will get guidance in this field

Target Guidance field

Arms Parallel lamp: The (green) lamp is lit when all HR arms are parallel (same
extension 10cm). Also see description of the joystick button of the right HR keypad.

Guidance arrows: Two guidance arrows (one for each direction) are included for each
HR movement. The arrows show the way to the target as follows:

Yellow arrow = Way to target.
Dark arrow = Forbidden direction (away from target or interlock).

The arrows for one or more HR arms (for the arms only) can also be faded down. This
means that the belonging arm is deselected (by the joystick button of the right HR
keypad).

Actual and Target digital indicators: For each movement the guidance arrows are
complemented by digital indicators showing the actual and target position of the
movement.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 33 of 86

HydraRacker Status field

Mode field: The field shows the present HR operating mode (like Standby, Manual, etc).

Overload lamp & message field: The (red) lamp is lit to indicate HR overload. The type
of overload is specified in the message field below the lamp. The overload will be one of
the following types:

Overload SWL*1.0 warning (at load limit). SWL is reached.
Overload SWL*1.15 warning (15% overload). Lowering the load is the only allowed
HR operation.

SWL Load Limit indicator: The digital indicator shows the max acceptable lifting load for
the HR grip head. The load limit depends on the main arm outreach, gripper pressure
and pipe OD.

Main Arm Negative Load lamp: The (red) lamp is lit to indicate negative load in the
gripper head (the head is resting on the pipe stand). Click HydraRacker Status i-button
to read the recommended remedy.

Main Arm Loaded lamp: The lamp is lit to indicate that the main arm is loaded.

Actual Load indicator: The digital indicator shows the actual load carried by the main
arm gripper head.

HydraRacker Status i-button: When the HydraRacker Status info button turns red, a
negative load is detected. Push button and follow the procedure in the info pop-up.

HydraRacker Main Arm Gripper, High Pressure at Large Diameter i-button: When High
Gripper Pressure Alarm activates, the i-button turns red. To acknowledge the alarm
press the i-button to open the pop-up. Follow the instructions in the pop-up and after
that enter the password to reset the alarm. If the cause of the alarm isnt remedied, the
alarm will activate again. When the cause is remedied, the i-button colour goes back to
normal. When the alarm is deactivated, push i-button to access the pop-up. No
password is required to close the pop-up.

HR Heads Status lamps & side view illustration: The lamps show the status of the HR
guide and grip heads. From the top the lamps are for: 1) Upper guide head. 2) Grip
head roller jaws. 3) Grip head grip jaws. 4) Tail guide head.

For each lamp the following colour codes are used:

Lamp grey: No signal (typically right after HR On is selected)
Lamp red: The pipe detector is activated, but the head/jaw is open.
Lamp green: The head/jaw has closed correctly.
Lamp white: The head/jaw has opened correctly.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 34 of 86

4.1.1 Menu

The Popup Menu appears by clicking the Menu i-button at FB Main or the FB Aux
screen displays. It is used for further access to any of the listed (sub) pop-ups:

Fingerboard Maintenance Pop-up
Pipe Selection Pop-up
Row Selection Pop-up
Set Stickup Height Pop-up.

Click belonging i-button to access the desired popup. The Pop-ups are described below.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 35 of 86

4.1.1.1 Fingerboard Maintenance

The pop-up is accessed via the Popup Menu. It is used to update the control system
with the latest information regarding the FB inventory. The control system normally
keeps track of the inventory automatically, but if stands have been removed from or
added to the FB manually (like by a utility winch), the system must be updated before
return to normal operation. This is most important!

The pop-up is also used to define pipe type for a selected FB row. Redefinition is here
needed each time the adjustable casing rows have been physically adjusted to store
another casing size.

How to use the pop-up is described in the Updating Memory with Latest FB Inventory
procedure, and in the Defining Pipe Type for Selected FB Row procedure.

The listed pipe types are divided into Fixed Defined Pipes and User Defined Pipes. The
parameters for the user defined types can be modified by the operator as described for
the Pipe Data field of the Learn Display. The operator cannot modify the fixed defined
pipes.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 36 of 86

4.1.1.2 Pipe Selection

The Pipe Selection pop-up lists all available pipe types. For each type there is a radio
button that can be clicked for selecting this type. Such selection should normally be part
of an overall procedure, such as Defining Pipe Type for Selected Row, or Updating
Memory with Latest FB Inventory. The Pipe Selection pop-up is accessed from Popup
Menu or Learn display.

Two pipe type groups are listed, Fixed Defined Pipes and User Defined Pipes. The first
group is based on basic FB design data, and cannot be altered by user. The types in the
second group can be modified by user.

Note that pipe type 0 is No pipe. FB rows defined for this type are not allowed used.
Rows under repair should be defined for type 0, so they are not used by accident. At the
FB displays there will be no stand circle in slots defined for type 0.

If you want to view the detailed parameters of a pipe type, select this type at the Pipe
Selection pop-up and then go to the Learn display. The parameters are shown at this
displays Pipe Data field. If you want to modify a user defined pipe type, this is done
from the same field. For more info, see the description of the Learn display.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 37 of 86

4.1.1.3 Row Selection

The Row Selection pop-up is accessed via the Popup Menu. It is used for pre-selection
of more than one FB row as FB target before auto sequences. The present selection is
shown by digits. It is also highlighted at the FB row number lines at the FB Main and FB
Aux displays. For complete understanding of how the pop-up is used, see the Selecting
Target for Auto Sequence section later in this document.

To alter the row selection, click the Row from and/or Row to S-button. Type the new row
number at the appearing pop-up (using the appearing numeric keyboard). Confirm the
new setting by clicking OK. The new setting appears by the S-button.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 38 of 86

4.1.1.4 Set Stickup Height

The pop-up is accessed from the Popup Menu. The pop-up is for setting the defined
stickup height at the WC and MH targets before auto sequence operation.

The present stickup height selection is shown to the right. To change the setting, click
the preferred S-button and get a new pop-up for changing the setting.

4.1.2 HR Negative Load

This is an info pop-up only (not for presetting). It is accessed by clicking the i-button at
the HydraRacker Status field of the FB Main and FB Aux displays. The pop-up
describes what to do when negative load status is announced at the displays (the main
arm grip head is pushing the stand downwards instead of lifting).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 39 of 86

4.1.3 Main Arm Gripper, High Pressure at Large Diameter

The pop-up describes what to do when high pressure at large diameter is announced at
the displays.

Main arm gripper High pressure at large diameter lamp is lit when high pressure at large
diameter is reached.

R-button Acknowledge, use button to acknowledge the alarm with a password (see
Learn or Preset section below).

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 40 of 86

4.2 FB Auxiliary Display with HydraRacker Status

For the fields description, see the FB Main display.

Description for Guidance arrows and Actual Target, see Target Guidance field at the FB
Main display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 41 of 86

4.3 HR Misc Displays

The Misc Displays consists of five different displays. These are described below.

When pressing Exit in a pop-up, the pop-up closes and no changes are saved.

4.3.1 Service Display

Service & Emergency Travel field

This part of the display is used for selecting and presetting the HR for operation in
service/emergency travel mode (Emergency travel), as described in the Service &
Emergency Travel Mode Operation section. The mode can be entered from standby
mode when there is a Power Ready signal.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 42 of 86

Emergency travel is for moving the HR, one movement/axis at a time (including max
one arm and max one trolley) by the joysticks, typically when the conditions for normal
travel are not met.

Checkboxes are included for selecting emergency travel mode for the different parts of
the HR. A Power Ready signal (indicating that the hydraulic and electric power supplies
are OK) is needed for entering the mode. After the preferred emergency travel operation
has been preset (as described for the below check-boxes), the emergency travel is
controlled by the joysticks like in manual mode.

Power Ready lamp: When lit, the (green) lamp indicates that the PLCs Power Ready
requirements are met (the electric and hydraulic supplies are on), and that emergency
travel thus is possible.

Arms checkbox: The checkbox is checked to release for emergency travel the arm (one
only) first selected at the top of the right joystick. If more than one arm is selected, the
checkbox will be unavailable (faded down). When one arm is selected, this arm will be
highlighted to the left of the checkbox.

Main Arm Elevation checkbox: The checkbox is checked to release the main arm for
emergency height adjustment. The main arm is physically moved up/down by its lifting
hoisting winch. The present elevation is shown to the left of the checkbox.

Slew checkbox: The Slew checkbox is checked to release the vertical column for
emergency slewing. The present slew position is shown to the left of the checkbox.

Trolley Release lamp: Operating a HR trolley in emergency travel mode means that this
trolley will be run while the other trolley is at standstill. The trolleys will then become
unaligned, and the column will no longer be vertical. The maximum allowed difference
between the trolleys horizontal positions is 0.5m. To prevent unmeant emergency
trolley travel, such travel can only be done after Emergency Trolley Release key switch
S2 inside the HRs PLC Control Cabinet is set to On. The lamp is then lit and the trolleys
are released for emergency travel, and one of the trolley checkboxes can be checked.

Upper Trolley checkbox: The Upper Trolley checkbox is checked to enter upper trolley
emergency travel mode. The Trolley Release lamp must be lit before the checking can
take place. Dont exceed this max horizontal distance (0.5m) to the other trolley!

Lower Trolley checkbox: The Lower Trolley box is checked to release the lower trolley
for emergency travel. Info as for the Upper Trolley checkbox.

The actual positions for each movement are shown to the left of the above-mentioned
checkboxes. The readings may not be reliable if the measurement system has broken
down and must be confirmed visually.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 43 of 86

Valve Card Calibration field

A hydraulic proportional valve is used for the direct control of each HR movement. The
valves are remote controlled, but have also a local manual control lever. After such a
valve has been changed, the new valve must be tuned in before it can be used. This
tuning-in is done from the Valve Card Calibration field.

The overall tuning-in consists of a verification routine (Verification Routine I
max
) and a
calibration routine (Calibration Routine I
min
). Each routine is described in detail in an info
pop-up that appears on the screen by clicking the belonging i-button. The use of the
fields two checkboxes is described in these routines. It is recommended to carry out the
verification routine first.

I
max
and I
min
refer to the signal output current. The design I
max
current is 570 mA.

Plus Direction lamp: Turns green when the calibration is travelling in Plus direction.
When the calibration is performed the lamp turns white. If something in the calibration
goes wrong the lamp turns red. Perform the calibration ones again.

Minus Direction lamp: Turns green when the calibration is travelling in Minus direction.
When the calibration is performed the lamp turns white. If something in the calibration
goes wrong the lamp turns red. Perform the calibration ones again.

Valve Output: Shows a number between 0 100%, where 0% is no output to the valve
and 100% is maximum output to the valve.

Actual Position: Shows actual position for the axis that is calibrated.

Verf. Routine I max i-button: Click button to open the I max verification routine pop-up.

Cal. Routine I min i-button: Click button to open the I min calibration routine pop-up.

HydraRacker Status field

The HydraRacker Status field is the same as described for the FB Main display.

Main Arm Compensator field

The barographs shows the position and load visually.
Position shows the position on the compensator and set-point of the compensator.
Load shows the actual load calculated with actual pressure and set-point based on
pressure setting.
The set-points are only active in Position mode respectively in Compensating mode.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 44 of 86

Compensator Service Operation field

To access the field, HR must be in Power Ready or Standby mode, gripper head must
be unloaded and the gripper jaws and roller jaws must be opened. When Power Ready
or Standby mode is entered, the Manual mode is selectable. When the Manual mode is
selected, the Decrease and Increase buttons becomes available and can be used. Use
the buttons to Increase/Decrease the pressure in the compensator cylinder.

Increase will hoist the main arm (increase pressure in cylinder) and Decrease will lower
the main arm (decrease the pressure in cylinder).

4.3.1.1 I Max Verification Routine

This info pop-up is accessed by clicking the Verification Routine I
max
i-button at the
Service display. It describes how to carry out a valve card verification routine. See more
info above for the Valve Card Calibration field in the Service display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 45 of 86

4.3.1.2 I Min Calibration Routine

This info pop-up is accessed by clicking the Calibration Routine I
min
i-button at the
Service display. It describes how to carry out a valve card calibration routine. See more
info above for the Valve Card Calibration field in the Service display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 46 of 86

4.3.2 Learn Display

The display is for learning operations, i.e. for modifying pre-programmed pipe
parameters (for user defined pipe types only) and HR target position setpoints. All such
data are set during commissioning, and shall/need normally not be altered by user. The
following fields are covered:

Learn Mode Field

Learn Mode checkbox: The checkbox is for logging on and off the password protected
Learn mode. Such logging-on is necessary for access to the display Learn Mode set
buttons. Logging on is by checking the checkbox, and giving the correct password at the
appearing pop-up. The password is 2000. After logging on, the mode remains open for
5 minutes, after which you are automatically logged off. You can also log off by
unchecking the checkbox.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 47 of 86

Pipe Selection i-button: Click button to make the Pipe Selection pop-up appears on the
screen (described above).

Arms & Trolley Target Positioning Field

This field is for modifying target position data for the listed HR targets. When one of
these targets later is selected, the auto sequence will take the HR to this exact position.

To modify the target position you first select manual mode for the HR. Then position the
HR (trolleys and arms) at exactly the preferred target position. Thereafter select Learn
Mode. Check the checkbox for subject target, and confirm the new position at the
appearing pop-up. Leave Learn Mode and then test the new target.

For more detailed info, click the fields i-button and the Arms & Trolley Target
Positioning info pop-up appears on the screen.

Pipe Data Field

This field is for viewing detailed pipe parameters and for defining user defined pipe
stands (the last group at the Pipe Selection pop-up).

To view the parameters of a pipe type, select this type at the Pipe Selection pop-up. The
parameters can thereafter be viewed at the Pipe Data field. The lamps at the bottom of
the field will indicate if this pipe type is preset with low or high grip head (grip jaws)
pressure. If a user defined pipe type is selected, the parameters of this type can then be
redefined.

To define or redefine a user defined pipe type, click first the i-button at the Pipe Data
fields upper right corner. The pop-up that appears gives a detailed procedure for how to
define a pipe type. During the execution of the procedure you will need to access the
User Defined Stand parameters pop-up. This pop-up is entered by clicking the
Parameters i-button at the fields lower left corner. Reference is also made to
supplementary info at the Learn Mode Operations section.

Casing & Drillpipe (Lo Grip Press.) lamp: Indicates that low grip pressure is used when
gripping a casing or drill pipe with Gripper Head.

Collar & Heavy Weights (Hi Grip Press.) lamp: Indicates that high grip pressure is used
when gripping a collar or heavy weight drill pipe with Gripper Head.

Fingerboard: Main Arm Elevation Setpoint for Actual Pipetype Field

This field is for modifying the pre-programmed grip head gripping height setpoint for a
selected pipe type. The setpoint must be correct to ensure that stands built of subject
pipe type are gripped at the right height when picked up by the HR.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 48 of 86

To modify elevation setpoint for a particular pipe type, select the desired pipe type at the
Pipe Selection pop-up. The elevation data for this pipe type then appears in subject field
where it can be adjusted. Click the fields i-button to view a detailed modification
procedure.

4.3.2.1 Arms & Trolley Target Positioning

The info pop-up is accessed from the Learn display. It gives a detailed procedure for
how to modify HR target position data. See more info at the description of the Learn
display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 49 of 86

4.3.2.2 User defined Stand

how to redefine the parameters of user defined pipe types. See more info at the
description of the Learn display. Reference is also made to supplementary info at the
Learn Mode Operations section.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 50 of 86

4.3.2.3 User Defined Stand Parameters

The pop-up is accessed from the Learn display. It is used for redefining the parameters
of user defined pipe, casing, collar and heavy weight types. Check the check-box
corresponding to the clamping pressure on the pipe, high or low pressure. Enter the
information needed to define a new stand (Gripper Diameter, Stand Weight, Stand
Length and Box length). When done, press the S-button to enter the password to
confirm a defined stand. See more info at the description of the Learn display.

When Learn Inhibit, Weight Above Pipe SWL (Mismatch Between Pressure, Diameter
and Weight) lamp is lit red, there is a mismatch between pressure, diameter and weight
(the S-button is inhibited). New values have to be entered. The pipe values cannot be
saved until approved values are entered.

When Learn Inhibit, Pipe Used by Other HydraRacker lamp is lit red when the other HR
is using that particular pipe type and the pipe values cannot be changed. Wait until the
pipe type isnt used by the other HR to change values.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 51 of 86

4.3.2.4 Main Arm Elevation Setpoint for Actual Pipetype

how to modify the gripping height for each pipe type. See more info at the description of
the Learn display.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 52 of 86

4.3.3 Preset Display

The Preset display is for setting the reference points for the HRs axes controllers, i.e.
setting/calibrating the reference of each movement axis (without changing the scale).
There is generally one axis per movement, but the (upper and lower) trolley axes have
the same reference point and are set in one operation. The reference point of a
movement axis needs not necessarily be the zero of the axis.

The reference points of all axes are set during commissioning (no resetting is normally
necessary). If one of the axis position encoders has been replaced, the reference point
of the belonging axis must be reset before normal operation is resumed.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 53 of 86

Before a reference point can be set, log on to the password protected Preset mode. The
mode is entered by checking the Preset checkbox, and giving the correct password at
the appearing pop-up. The password is 2000. You then have 5 minutes to perform the
presetting. After 5 minutes you are automatically logged off. Normal log-off is performed
by unchecking the checkbox. After presetting an axis one is automatically logged off
Preset mode.

Generally each reference point is set by selecting HR Manual or Emergency travel
mode and then manually positioning subject HR part at exactly the specified reference
point. (There might be some deviations, see respectively pop-up for details.) Enter
Preset mode and store the new reference point into the software by clicking the
belonging R-button. The detailed procedure for each presetting is given at a pop-up that
appears on the screen when clicking the i-button of the belonging field. Also see
guidelines in each field.

NOTE: IF A TACHO ENCODER IS REPLACED, BE CERTAIN THAT MECHANICALLY
REFERENCE POINT IS REACHED BEFORE PRESETTING. USE EMERGENCY
TRAVEL TO REACH MECHANICAL REFERENCE POINT.

4.3.3.1 Main Arm Elevation Manual Presetting

The pop-up is accessed from the Preset display. It gives a detailed procedure for how to
set the reference point of the main arm elevation movement axis. See more info at the
description of the Preset display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 54 of 86

4.3.3.2 Slew Manual Presetting

set the reference point of the vertical columns slew movement axis. See more info at
the description of the Preset display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 55 of 86

4.3.3.3 Upper, Main or Tail Arm Manual Presetting

set the reference point of the extend/retract movement axis for each (one at a time) of
the three HR arms. See more info at the description of the Preset display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 56 of 86

4.3.3.4 Trolleys Manual Presetting

set the reference point of the horizontal travel movement axis for the (upper and lower)
HR trolleys. See more info at the description of the Preset display.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 57 of 86

4.3.3.5 Gripper & Roller Presetting

correct the operation of the grip heads grip jaws and roller jaws. There are two
procedures described: Step 1: Gripper & Roller potentiometer calibration and Step 2:
Set Gripper & Roller reference diameter.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 58 of 86

4.3.3.6 M Arm Compensator position calibration Pop-up

check the calibration, and how to calibrate the main arm compensator. Such calibration
is needed if the physical cylinder stroke does not match the displayed values.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 59 of 86

4.3.4 Setup Display

Gripper Control in Auto Sequence field

During HR operation in auto sequence mode, the operator can choose to grip pipe
stands at the FB in a fast and automatic way or in a slow and controlled way. The
choice is made by checking or unchecking the checkboxes at the Setup display, and
must be done before the auto sequence is started. The choice lasts until the checking is
manually changed. The checkboxes are the following:

One Push to Grip Pipe in Fingerboard: Check the checkbox to preselect fast gripping of
pipe stands at the FB. When the operator message (at the FB displays) later tells the
operator to grip the stand, the stand is gripped by pushing the button on top of the left
joystick one time only. The following gripping sequence then automatically takes place:

1. The grip head roller jaws closes around the stand (and centralizes it).
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 60 of 86

4. The grip head grip jaws grips the stand.
5. Target latch at the FB opens.

One Push to Grip Pipe in Well: Check the checkbox to preselect fast gripping of pipe
stands at the well. When the operator message (at the FB displays) later tells the
operator to grip the stand, the stand is gripped by pushing the button on top of the left
joystick one time only. The following gripping sequence then automatically takes place:

1. The grip head roller jaws closes around the stand (and centralizes it).
4. The grip head grip jaws grips the stand.

If the checkboxes are not checked, the stands are gripped in the same order, but the left
joystick button has to be pushed one time before each step. This gives the operator a
chance to confirm visually that everything is OK before proceeding to the next step. This
is recommended for testing etc.

Adjustable Fingerboard Condition Setup

Click the radio button that is corresponding to the casing size that is to be stored in the
adjustable section(s). Also see Fingerboard Maintenance Pop-up.

Select Pickup Elevator field

For Tubulars up to 13 : Check the checkbox to setup HR for using Dual Range
Elevator 13 in Grip Head.

For Casing from 14 to 20: Check the checkbox to setup HR for using Pick Up Elevator
14 - 20 in Grip Head.

If none of the checkboxes are checked, there is no PUE is installed in the Gripper Head.
Both checkboxes cannot be checked at the same time.

Select Large Tail Arm Guidehead field

Check the checkbox when using Guide Head II 14 20 in Tail Arm. Uncheck the
checkbox when using Guide Head 2 13 .

Select Trolley Stop At Target

Check the checkbox to make the Trolleys and Slew stop at target in Manual Mode.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 61 of 86

4.3.5 Status Display

The Status display is for fault finding and testing, and is arranged as follows:

Instrumentation & Disable Status Field

Hydraulic Interface lamp & i-button: When the lamp is green the hydraulic interface (at
the top of the HR) is OK. When the lamp is red something is wrong. Then click the
belonging i-button to make the Hydraulic Interface info pop-up appear on the screen.
Select between a number of other info pop-ups with proposed remedies to correct the
malfunction.

If a lamp turns on red at particular place on the HR at the Status Display, something is
wrong at this part of the HR. Then click the belonging i-button to get a pop-up with
proposed remedies to appear on the screen. This is the procedure to follow for the
following parts of the HR: (see next page)
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 62 of 86

Upper Trolley lamp & i-button
Upper Arm lamp & i-button
Main Arm lamp & i-butto
Tail Arm lamp & i-button
Slew lamp & i-butto
Lower Trolley lamp & i-button.

Disable Prox Feedback i-button and checkboxes: If the conclusion from the fault finding
is that there is a proximity switch error, it is possible to temporarily disable this switch
and replace it with a timer. This is done by checking the belonging checkboxes below
the i-button. The head closing time will increase a little, but the HR operations can
otherwise continue normally. Click the i-button to make info pop-up with more detailed
information appear on the screen. Have the proximity switch repaired as soon as
possible. Thereafter uncheck the checkbox.

Main Arm Grip Head Field

The field gives grip jaw and roller jaw information as shown, and will help in diagnosing
the fault.

Motion Control Status Field

The Motion Control Status Field is a diagnose tool for spotting the type and location of
the error.

Example:

If the fault is an encoder error at the upper guide arm, this alarm lamp in the matrix will
be lit. The next step is to click the belonging i-button and read the recommended
remedies at the appearing pop-up. Other errors are treated in the same way.

Each error is identified by a unique error identity number (Error ID #). Reporting this
number to suppliers service personnel will help them in the fault finding and result in
better assistance. Identity number 0000 means that the condition is OK.

The error identity numbers are also used for diagnosing virtual faults. Virtual faults
must be dealt with by suppliers service personnel. The last part of the status field is
about virtual faults.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 63 of 86

4.3.5.1 Hydraulic Interface

Push corresponding i-button to the fault to open a new pop-up and get more information
and follow the steps in the new pop-up.
F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 64 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 65 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 66 of 86

4.3.5.2 Upper Trolley

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 67 of 86

4.3.5.3 Upper Arm

Push corresponding i-button to open a new popup get more information.

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 68 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 69 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 70 of 86

4.3.5.4 Main Arm


F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 71 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 72 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 73 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 74 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 75 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 76 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 77 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 78 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 79 of 86

4.3.5.5 Tail Arm

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 80 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 81 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 82 of 86

4.3.5.6 Slew

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 83 of 86

4.3.5.7 Lower Trolley

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 84 of 86

4.3.5.8 Disable Prox Feedback

4.3.5.9 Motion Control Status Errors

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 85 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y
Attachment
Revision 0
Page 86 of 86

F
o
r

T
r
a
i
n
i
n
g

P
u
r
p
o
s
e
s

O
n
l
y

V5315 Z Ma 007 - 80346421

Enviado por

Dados do documento

Descrição original:

Título original

Direitos autorais

Formatos disponíveis

Compartilhar este documento

Compartilhar ou incorporar documento

Opções de compartilhamento

Você considera este documento útil?

Este conteúdo é inapropriado?

Direitos autorais:

Formatos disponíveis

V5315 Z Ma 007 - 80346421

Enviado por

Direitos autorais:

Formatos disponíveis

RIG/PLANT

Você também pode gostar