Drill Pipe Handler Operating Manual

Drill Pipe Handler - OPM
Revision 00-12/2007
HH220 & HH300 – AUTOMATIC DRILL PIPE HANDLER
OPERATING MANUAL
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1. GENERAL DESCRIPTION
The automatic Drill Pipe Handler of the rigs HH220 and HH300 consists of 17 no. vertical pipe bins, which
can accommodate 3 ½”, 4”, 4 ½” and 5” DP, range III (approx. 45 ft.). Every pipe bin has two sectors
(defined as LINE 1 and LINE 2). According to the size of DP, every pipe bin can accommodate maximum
16, 18 or 20 DP.
Two rotating arms (upper clamp and lower arm) take the DP from the pipe bins and putting them into
mouse hole (TRIP IN phase) or take the DP from mouse hole and putting them into pipe bins (TRIP OUT
phase). The cycles can be automatic or manual mode.
The Drill Pipe Handler is composed by:

-360° Rotating Carrousel with winch
-Upper Clamp (moving in-out and up-down) to move the DP to the mouse hole or to the pipe bins
-Lower Arm (synchronizing with the Upper Clamp) to keep DP straight during shifts
The four main motions, Up-Down (Upper-Clamp), In-Out (Upper-Clamp), In-Out (Lower Clamp), Rotation
(Carrousel), are controlled by encoders and driven by inverters and electric motors.
The PLC (Programmable Logic Controller) inputs like position switches, limit switches, press switches,
temperature switches, manual commands are connected to PROFIBUS network slave devices and
communicate to CPU through RS485 network system.
Two PLC Siemens S7300 CPU 315-2DP electric panels manage whole system, as the Main Panel MPI
(network address no.2) that usually works, and the Active Spare Panel MPI (network address no.3)
that will be used in case of emergency if the Main Panel is damaged.
The Drill Pipe Handler can be manually operated by switching the selector key to the desired position
either DOG-HOUSE position and using the joysticks of the panel, or RADIO CONTROL and using the radio
control box.
The Drill Pipe Handler can be automatically operated by switching the selector key in OFF position and
after having programmed the desired sequence of trip-in, trip-out, or bin-to-bin.
Turn on the power for the Drill Pipe Handler following the sequence:
1) Turn on the CIRCUIT BREAKER, located in the SCR house if the pipe handler is supplied by 480V
from the SCR, or start the auxiliary generator to supply 480V to the pipe handler.
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2) Turn on the main CIRCUIT BREAKER, located in the main computer house. (Fig.1)
Fig.1 – Main Circuit Breaker
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3) Turn on the BACK-UP BATTERY, located in the panel no.2 inside the main computer house.
(Fig.2)
Fig.2 – Back-Up Battery
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4) Turn on the SWITCHES (to enable 24V power to solenoid valves and PLC), located in the panel
no. 2 inside the computer house. (Fig.3)
Fig.3 – Switches
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After turning on the switches the PLC is enabled and you have to check the correct operating of the
CPU by seeing two steady green lights, RUN and DC5V (Fig.4).
Fig.4 – CPU leds – correct booting
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5) Turn on the UPS of the main computer to start Windows (Fig.5,6)
Fig.5 – UPS Unit
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Fig.6 – Windows Desktop (Main Computer)
The main computer has two terminals (touch-screen computer) located in the dog-house, one for the
Rig’s Hydraulic Unit (HPU1 and HPU2), and one for the Drill Pipe Handler. The dog-house terminal of the
Pipe Handler is powered by 24VDC from the UPS. In case of power failure, the terminal is still powered
from the UPS battery for approx. 90 min.
Once the UPS is turned on, the Drill Pipe Handler terminal in the dog-house boots to the following screen
Main Screen (Fig.7)
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Fig.7 – Main Screen
On the Main Screen, you monitor the system, cycle, start/stop of the automatic cycle.
Cycle: TripIn, TripOut, BinToBin (transferring drill pipes from bin to bin)
Mode: Manual - The manual mode is active when the selector key is switched to the desired position,
either DOG-HOUSE position and using the joysticks of the panel, or RADIO-CONTROL position and using
the radio control box.
Up-Down and In-Out clamp motions and In-Out lower arm motions automatically stop at the software
limit switches. In the parameters page (ACTIVATING) it is possible to disable the software limit switch
and, therefore, the motions of the clamp will stop at electric limit switches. In the same ACTIVATING
page it is also possible to disable the electric limit switches, and therefore the motions will stop at the
mechanical lockers. It is not recommended to disable the electric limit switches, unless there is a
requirement to do it so, like, for example, merging the clamp and lower arm at the bottom of the
handler to install the pin.
Rotation carrousel motion has two different functioning modes: rotating fast (switch to “fast” on radio
control box) the Drill Pipe Handler will not stop in front of any bin, rotating slow (switch to “slow” on
radio control box) (under the limit on parameter page) the Drill Pipe Handler will stop in front of any
bin.
To start Automatic Cycle it is necessary to program the sequence of the pipe bins, select the cycle
mode, and press Start button. According to the cycle mode, the Drill Pipe Handler will move itself
automatically, bringing the DP from the pipe bins to the mouse hole, taking the DP from the mouse hole
back to the pipe bins, or transferring the DP from pipe bin to pipe bin.
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The Automatic Cycle stops or start simply pushing Stop and Start
Encoders & targets: During automatic cycle, every motion of the Drill Pipe Handler (Clamp Up-Down,
Clamp In-Out, Rotation, and Lower Arm In-Out is monitored, showing the actual position (Pos.) and the
future target-position (T.)
Last Pipe Stop in Trip-In - After one DP is taken to mouse hole, pushing the button will
stop the automatic TripIn cycle at waiting position. The cycle can be resumed any time by pushing the
button again
Pushing the button to increase or reduce all speeds during automatic cycle (50%)
Back to Main Screen
Open the password management display: to insert, delete or modify users and
passwords. The rig operators and rig technicians are assigned different password levels; certainly the
operators are not allowed to modify important parameters or settings. In an attempt to do so, a message
“Insufficient password level” will pop-up. The important parameters or settings can only be modified
by the specialized rigs technicians or Drillmec personel.
Second page showing the pipe bins no. 18 to 34.
Measuring system select: US (inch) or METRIC (mm)
Quit
Total DP counter
Real PLC total working cycle time
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2. PIPE BINS PROGRAMMING
1) Enable Teach Mode (rotation with clamp out enabled) in the ACTIVATING page (Fig.8)
Fig.8 – Enable Teach Mode
2) Enable the selection of the Maximum Number of Drill Pipes to be loaded in every pipe bin, in
the START UP ACTIVATING page (Fig.9)
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Fig.9 – Enable Max Number of Pipes
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Click to open Pipe Bins Programming page (Fig.10)
Fig.10 - Pipe Bins Programming (Teaching)
3) Select the DP size loaded into the bin (3 ½”, 4”, 4 ½” or 5”). Changing DP size selection will
erase any previous parameter of that pipe bin.
4) After selecting the size of DP, select the maximum number of the DP that will be loaded on
both lines of every pipe bin.
5) Insert the DP in the Pipe Bin and input the length of every DP, starting with the Pipe Bin no. 1.
6) DP rotation hours are counted since the automatic cycle starts. The rotation hours of the DP
are not effective but absolute, and this is because the counter starts when the DP is out from
the pipe bin and the top drive screws into it on the mouse hole clamp. This is indicative
information for the rig crews in order to know an approximate time to have DP inspected. If
one or more of DP reach the “MAX D.P. ROTATION HOURS” their colours change to red flashing
and an alarm message appear: the operator can stop the cycle and change the DP or leave the
Drill Pipe Handler to continue the automatic cycle, or just reset the counter clicking on the
hours value.
7) The parameter you only have to input is “Pipes Step”, and it is the distance between the axles
of two DP tool joints. For example, the theoretical distance between two 4 1/2” DP tool joints
is 6.25”, but considering that the DP are not perfectly aligned in the pipe bin, we may input the
“Pipes Step” as 6.3”, just to cover any misalignment. (Fig.10a)
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Fig.10a - Pipe Bins Programming (Pipes Step)
8) Switch the selector key to manual control (DOG-HOUSE or RADIO CONTROL). We recommend
using RADIO CONTROL for an easy programming operation.
9) The TEACHING OPERATION (Pipe Bins Programming) should always start from the Pipe Bin no.
1, LINE 1, and going ahead up to the last Pipe Bin no. 17.
10) Remember that the TEACHING OPERATION must be done first to the LINE 1, and then the LINE
2. Example of TEACHING OPERATION:
a. Pipe Bin no. 1 – LINE 1

b. Pipe Bin no. 1 – LINE 2
c. Pipe Bin no. 2 – LINE 1
d. Pipe Bin no. 2 – LINE 2
e. …………………………………..
f. Pipe Bin no. 16 – LINE 1
g. Pipe Bin no. 16 – LINE 2
h. Pipe Bin no. 17 – LINE 1
i. Pipe Bin no. 17 – LINE 2
11) Manually rotate the Carrousel (if you control the Drill Pipe Handler with RADIO CONTROL,
switch the rotation to “SLOW” to allow the carrousel to stop in front of every Pipe Bin) in front
of the Pipe Bin no. 1, LINE 1. When you rotate the Carrousel you notice that “Rotation Pos.”
will continuously change the angle value. This also shows that the rotation encoder is “reading”
and works correctly. (Fig.10b)
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Fig.10b - Pipe Bins Programming (Rotation)
12) Manually move OUT the Upper-Clamp until it stops in contact with the 1st Pipe (if the Pipe Bin
has one DP only) or with the last Pipe (if the Pipe Bin is full, having all DP). Close the clamp on
the respective DP. At this moment you will see that DP “disappears” from the pipe bin. If the
respective DP does not disappear from the pipe bin, go ahead to step 13) anyway, teach the
line and then repeat the steps 12) until you see the DP “disappeared” from the pipe bin. Then
go to the step 13).
13) Click TEACH 1st Line – 1st Pipe (if the clamp is closed on the 1st DP), or TEACH 1st Line – Last
Pipe (if the clamp is closed on the Last DP). As a consequence you will see that the parameter
“1st Pipe Rotation” will change according to the actual position of the rotation (the rotation
position is being taught). The PLC system will automatically calculate in the same time the
value of the parameter “1st Pipe Clamp Out”.
14) Manually open the clamp and move IN the Upper-Clamp.
15) Manually rotate the Carrousel in front of the Pipe Bin no. 1, LINE 2.
16) Manually move OUT the Upper-Clamp until it stops in contact with the 1st DP (if the Pipe Bin
has one DP only) or with the last DP (if the Pipe Bin is full, having all DP). Close the clamp on
the respective DP.
17) Click TEACH 2nd Line. As a consequence you will see that the parameter “Lines Step” will
change according to the actual position of the rotation (the rotation position is being taught).
18) Proceed further with the TEACHING OPERATION for all Pipe Bins.
Remark:
Normally, the TEACHING OPERATION has to be done once only, at the first rig-up on the drilling
location. You may repeat the TEACHING OPERATION on the same location if the size of DP is changed, or
any time the ground is not even or the Drill Pipe Handler does not work properly.
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3. TRIP-IN / TRIP-OUT SEQUENCE PROGRAMMING
Click to program the automatic bins tripping sequence (Fig.11)
Fig.11 - Trip-In (Trip-Out) Sequence Programming
The display page allows the operator to program the sequence of Trip-In or Trip-Out, and also BinToBin
(moving the DP from one bin to another). You can choose any sequence of tripping, normal (from 1, 2,
3….17) or any random that might be suitable for your drilling program.
Example of Trip-In sequence: 1.2, 1.1, 2.2, 2.1……….8.2, 8.1, and then 17.1, 17.2, 16.1, 16.2…………9.1,
9.2. When you start the automatic cycle, the Drill Pipe Handler will follow the Trip-In sequence
accordingly. Trip-Out sequence will be automatically done just following the opposite way of Trip-In.
In order to optimize the automatic cycle of Trip-Out, the PLC system will perform “auto-teaching” of the
clamp position when every single DP is taken out from the pipe bin during Trip-In cycle. This means that
when the upper arm will get the drill pipes out of the pipe bin one by one, the PLC system will memorize
the position of every pipe inside the pipe bin in order to put them back in the same place without errors
or alarms.
To program any sequence you have to:
• Check the boxes around the bins to add or remove bins from the sequence list
• Click to erase all locations and re-program the sequence
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4. DEPTH AND GRAPHIC
Click to open depth trend graphic (Fig.12)
Fig.12 – Depth and Graphic
The display page monitors the depth using the drill pipes lengths. The length of each drill pipe should be
input in the page of Pipe Bins Programming (Fig.5). We remind that the MAX depth is not the total
drilling depth, but the length of all drill pipes in the well and in the way of tripping in during the
automatic cycle. To obtain the actual drilling depth, you must consider along with the drill pipes lengths
the total length of your BHA (drill collars, heavy weight drill pipes, drilling motors, stabilizers, subs,
rock bit, etc.). Certain instrument system (Pason, M/D Totco) will allow you to monitor your drilling
parameters any time during drilling operation.
If the operators would like to use the Depth and Graphic feature, they have to reset the depths at the
beginning of every well.
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5. ELECTRIC CONNECTION BOX-PANELS
Click to open the display page:
Fig.13 – Electric Connections Box-Panels
The display page allows the operator to view the position of any faulty device. Anytime an alarm
occurs, the operator will see a red dot blinking, indicating the position of the fault.
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The PLC input/output configuration display opens just clicking the boxes .
Box no.8
Fig.14 – Box no.8
Box no.8 (Fig.14) details PLC inputs for various services as rig jib crane, rig mouse-hole clamp, drill
pipe handler, etc. The green lights “ON” show that the respective controls are enabled and ready to
be operated, for example “Dog house console enabled” lighting green gives you the authorization to
operate the handler from the dog-house panel, or “Radio controller enable” lighting green gives you
the authorization to operate the handler remotely using a radio controller.
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Box no.2
Fig.15 – Box no.2
Box no.2 (Fig.15) details PLC inputs (example E 30.3 – Sf104)/outputs (example A 34.3 – Y171) for
various services as rig top drive, rig mouse-hole clamp, etc.
E 30.0 – Sf85 Top drive tilt close limit switch

A 34.4 – Y174 Top drive tilt out authorization valve
When the green light of the switch Sf85 is “ON” the top drive is completely “IN”, otherwise is “OUT”.
This limit switch authorizes the pipe handler to move its arms to the mouse hole. If the top drive is
“OUT” the pipe handler will not move its arms to the mouse hole, with (TRIP IN) or without (TRIP
OUT) drill pipe.
The limit switch Sf85 is located on the top drive (driller side).
The valve Y174 is enabled (green light “ON”) to swing the top drive to the mouse hole only.
The valve Y174 is located behind the mast, just above the pull up-down hydraulic block.
E 30.1 – Sf100 Mouse hole clamp open limit switch

E 30.2 – Sp101 Mouse hole clamp closed limit switch
A 34.0 – Y166 Mouse hole open valve
A 34.1 – Y167 Mouse hole closing valve
When the green light of the limit switch Sf100 and the pressure switch Sp101 is “ON” the mouse hole
clamp is “OPEN”, otherwise is “CLOSED”. The limit switch and the pressure switch authorize the pipe
handler to move its arms to the mouse hole as if the mouse hole clamp is “OPEN”, the pipe handler
arms will advance to put a new drill pipe in the mouse hole (TRIP IN), and if the mouse hole clamp is
“CLOSED” on the drill pipe, the pipe handler arms will advance to get the drill pipe out from the
mouse hole (TRIP OUT). The limit switch Sf100 is located on the mouse hole clamp and can be seen
lifting the protection cover on the rig floor.
The pressure switch Sp101 is located under the rig floor and can be seen on the pressure line, which
feeds the mouse hole clamp.
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The valves Y166, and Y167 are enabled (green light “ON”) when manual or automatic control is
applied and, therefore, allow opening/closing of the mouse hole clamp.
The valves Y166 and Y167 are located behind the mast, just above the pull up-down hydraulic block.
E 30.3 – Sf104 Top drive upper limit switch

E 30.6 – Sf110 Max pull on M.H. safety limit switch
A 34.2 – Y170 Power swivel up enable valve
When the green light of the limit switch Sf104 is “ON” the top drive reaches the highest position
(hoisting), and therefore the valve Y170 goes “OFF”, meaning that the top drive in hoisting cannot be
controlled anymore. Sometimes, only if need be, the limit switch can be by-passed pushing the red
button located in the dog-house console, and the top drive in hoisting can go near the top mechanical
lockers. It is not recommended to by-pass the limit switch, but it could be necessarily when installing
longer casing pipes than usual.
When the green light of the limit switch Sf110 is “ON”, the operator is not allowed to pull the top
drive while extended to mouse hole and having the drill pipe connected and closed in the mouse hole
clamp. Therefore the valve Y170 goes “OFF”.
The limit switch Sf104 is located on the top part of the mast.
The limit switch Sf110 is located on the mouse hole clamp and can be seen lifting the protection
cover on the rig floor.
E 30.4 – Sf105 Top drive lower limit switch

E 30.5 – Sf105B Lower switch top drive on M.H. trip out
E 30.7 – Sf111 Max push on top drive
A 34.3 – Y171 Power swivel down enable valve
When the green light of the switch Sf105 is “ON” the top drive reaches the lowest position (hoisting),
and therefore the valve Y171 goes “OFF”, meaning that the top drive in hoisting cannot be controlled
anymore. Sometimes, only if need be, the limit switch can be by-passed pushing the red button
located in the dog-house console, and the top drive in hoisting can go near the bottom mechanical
lockers. It is not recommended to by-pass the limit switch, but it could be necessarily when setting
the drilling string in the automatic slips.
When the green light of the switch Sf105B is “ON” the top drive reaches the lowest position while
extended for tripping out, and therefore the valve Y171 goes “OFF”, meaning that the top drive while
extended cannot be controlled anymore.
When the green light of the switch Sf111 is “ON” the operator cannot push on the drill pipe thread
with the top drive while extended to the mouse hole. Therefore, the valve Y171 goes “OFF”.
The limit switch Sf105 is located at the bottom part of the mast.
The limit switch Sf105B is located at the bottom part of the mast, above the limit switch Sf105.
The limit switch Sf111 is located on the top drive (off driller side) and it is connected with top drive
air bags.
Remark: Top Drive Upper and Lower Limit Switches are linked to the pipe handler operations,
therefore they are active when the pipe handler is turned ON. Avoid manoeuvring the top drive up
and down if the pipe handler is turned OFF. If you have to do it so, proceed with care and remember
that the limit switches are disabled when the pipe handler is turned OFF.
E 31.0 – Sf99A Upper stop mast jib crane

E 31.1 – Sf99B Upper stop mast jib crane
A 34.6 – Y183 Mast jib crane up authorization valve
When the green light of the switch Sf99A,B is “ON” the rig jib crane hook reaches the top position,
and therefore the valve Y183 goes “OFF”. The jib crane hook can only be lowered.
The limit switch Sf99 is located on the top of the rig jib crane.
The valve Y183 is located behind the mast, just above the pull up-down block.
E 31.2 – Sf188 Rotation stop mast jib crane

A 34.6 – Y188 Rotation mast jib crane up authorization valve
When the green light of the switch Sf188 is “ON” the rig jib crane arm reaches the maximum allowed
position to the well centre not to interfere with the top drive, and therefore the valve Y188 goes
“OFF”. The jib crane arm can only be moved back. In certain situations, the jib crane arm can be
moved more to the well centre, by-passing the limit switches pushing the red button located in the
dog-house console.
The limit switch Sf188 is located on the top lateral part of mast.
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The valve Y188 is located behind the mast, just above the pull up-down block.
Box no.3
Fig.16 – Box no.3
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Fig.17 – Box no.3 (continued)
Box no.3 (Fig.16) details PLC inputs (example E 100.3 – Sf93) for various services of the drill pipe
handler as rotation, clamp in-out, clamp up-down, lower arm in-out, jib crane, etc.
Box no.3 (continued) (Fig.17) details PLC outputs (example A 62.0 – Y160) for various services of the
drill pipe handler as rotation, clamp in-out, clamp up-down, lower arm in-out, jib crane, etc.
E 100.0 – Sf80 Clockwise rotation stop limit switch

E 100.1 – Sf81 Counter Clockwise rotation stop limit switch
E59.1 – SP01 Rotation brake pressure switch
A 62.0 – Y160 Rotation brake release valve
To rotate the pipe handler in manual mode, the brake of the reduction gear under the electric motor
(hydraulic motor) is released and you can see during rotation that the pressure switch light SP01 goes
“OFF” and the solenoid valve enabling the rotation Y160 goes “ON”. All this time the limit switches
Sf80 and Sf81 are “OFF”. When the manual rotation either way reaches the electrical limit switches,
Sf80 and Sf81 will go “ON”, and therefore the pipe handler rotation is stopped before reaching the
mechanical lockers. The pressure switch SP01 is “ON”, locking the brake and disabling the solenoid
valve Y160, which of course will go “OFF”. In automatic mode the motion is similar, the pipe handler
rotation not reaching the electrical limit switches but the software limits established in the
parameters pages.
The limit switches Sf80 and Sf81 are located at the base of the pipe handler inside a metal box. They
can be viewed by opening the cover of the box.
The solenoid valve Y160 is located at the base of the pipe handler close to the pipe handler electric
motor.
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E 101.4 – Sf90 Clamp up stop limit switch

E 100.2 – Sf91 Clamp down stop limit switch
To move the pipe handler upper arm up-down in manual mode, the brake of the reduction gear under
the hydraulic motor is released. All this time the limit switches Sf90 and Sf91 are “OFF”. When the
manual up-down motion reaches the electrical limit switches, Sf90 and Sf91 will go “ON”, and
therefore the upper arm up-down motion is stopped before reaching the mechanical lockers. In
automatic mode the motion is similar, the upper arm up-down motion not reaching the electrical
limit switches but the software limits established in the parameters pages.
The limit switches Sf90 and Sf91 are located on the pipe handler mast.
E 58.4 – Sf82 Clamp out stop limit switch

E 58.5 – Sf83 Clamp in stop limit switch
E 59.2 – SP02 Clamp brake pressure switch
A 66.1 – Y161 Clamp in-out brake release valve
To move the pipe handler upper arm in-out in manual mode, the brake of the reduction gear under
the electric motor is released and you can see during in-out motion that the pressure switch light
SP02 goes “OFF” and the solenoid valve enabling the in-out motion Y161 goes “ON”. All this time the
limit switches Sf82 and Sf83 are “OFF”. When the manual in-out motion reaches the electrical limit
switches, Sf82 and Sf83 will go “ON”, and therefore the upper arm in-out motion is stopped before
reaching the mechanical lockers. The pressure switch SP02 is “ON”, locking the brake and disabling
the solenoid valve Y161, which of course will go “OFF”. In automatic mode the motion is similar, the
upper arm in-out motion not reaching the electrical limit switches but the software limits
established in the parameters pages.
The solenoid valve Y161 is located on the pipe handler mast near the upper arm.
E 58.6 – Sf84 Clamp engagement limit switch

The limit switch Sf84 is “OFF” all the time when the plunger (a mechanism with spring, plunger and
limit switch located under the clamp) is not in contact with the drill pipe. As long as the plunger is in
contact with the drill pipe, in manual or automatic mode, the limit switch Sf84 goes “ON”. This is a
further electric command to stop the motion OUT of the upper arm and closing the clamp on the
drill pipe. Therefore, it is very important that the mechanism is cleaned, free of dirt and greased.
The spring of the mechanism should also be loaded enough to allow the plunger to move and return
smoothly.
The limit switch Sf84 is located under the clamp of the upper arm.
E 58.7 – Sf92 Clamp downloading limit switch

The limit switch Sf92 is “OFF” all the time when the square bar containing the clamp is down-
positioned by its weight. During tripping out the upper arm places a drill pipe inside the pipe bin and
lower it at the bottom. The square bar with the clamp slides up, the limit switch goes “ON” sending
the electric command to open the clamp and release the drill pipe. Therefore, it is very important
that the square bar is cleaned, free of dirt and greased.
The limit switch Sf92 is located above the clamp of the upper arm.
Remark:
If the square bar is not maintained properly, it can get stuck, and the limit switch will not change the
electrical status (will not go “ON”). At this point the winch, which holds the upper arm, will continue
to unwind the rope unnecessarily not receiving the electric command to stop despite the drill pipe
had been set down. Sometimes, the bar will get unstuck by itself, or mistakenly some operators will
place a piece of metal in front of the limit switch to stop unwinding the rope, and as a consequence
the electric signal being given, the upper arm will fall freely for few feet, most of time the reduction
gear of the arm being broken.
To avoid those problem, a safety timer was introduced in the PLC program. The safety timer has a
preset maximum value that can be changed in the START ACTIVATING PAGE. When the pipe is brought
inside of the pipe bin to its place, and being lowered down the timer will start counting the seconds
from the maximum preset value to zero. Within this time the pipe is lowered, and if the square bar
slides normally the automatic cycle continues. If the timer arrives to zero and the square bar is stuck,
then the unnecessary rope unwinding is stopped, and so the automatic cycle. The maximum preset
value is set to 12-15 seconds, time enough for the pipe to be lowered down without problems.
Normally the operation takes 7-9 seconds.
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E 58.3 – Sp95 Clamp close pressure switch

E 59.0 – Sp94 Clamp open pressure switch
A 66.2 – Y164 Clamp open valve
The following electric sequence for the clamp open-closed should be seen:
Clamp OPEN:
-pressure switch Sp94 “OFF”
-pressure switch Sp95 “ON”
-solenoid valve Y164 “ON”
Clamp CLOSED:
-solenoid valve Y164 “OFF”
Any other electric sequence different from the one above is wrong, and further checks should be done
to fix the problem.
The pressure switch Sp95 is located on the hydraulic block of the clamp.
The pressure switch Sp94 is located on the pipe handler mast near the upper arm.
The solenoid valve Y164 is located on the pipe handler mast near the upper arm.
E 100.4 – Sf86 Lower arm out stop limit switch

E 100.5 – Sf87 Lower arm in stop limit switch
E 59.3 – SP03 Lower arm brake pressure switch
A 62.2 – Y162 Lower arm in-out brake release valve
To move the pipe handler lower arm in-out in manual mode, the brake of the reduction gear under
the electric motor is released and you can see during in-out motion that the pressure switch light
SP03 goes “OFF” and the solenoid valve enabling the in-out motion Y162 goes “ON”. All this time the
limit switches Sf86 and Sf87 are “OFF”. When the manual in-out motion reaches the electrical limit
switches, Sf86 and Sf87 will go “ON”, and therefore the lower arm in-out motion is stopped before
reaching the mechanical lockers. The pressure switch SP03 is “ON”, locking the brake and disabling
the solenoid valve Y162, which of course will go “OFF”. In automatic mode the motion is similar, the
lower arm in-out motion not reaching the electrical limit switches but the software limits
established in the parameters pages.
The solenoid valve Y162 is located on the pipe handler mast near the lower arm.
E 58.1 – Sf582 Pipe engaged limit switch on lower arm

The limit switch Sf582 is “OFF” all the time when the plunger (a mechanism with spring, plunger and
limit switch located on the lower arm) is not in contact with the drill pipe. As long as the plunger is in
contact with the drill pipe, in manual or automatic mode, the limit switch Sf582 goes “ON”. This is a
further electric command to close the safety lock on the drill pipe. Therefore, it is very important
that the mechanism is cleaned, free of dirt and greased. The spring of the mechanism should also be
loaded enough to allow the plunger to move and return smoothly. If the limit switch Sf582 does not
work properly, then the pipe handler rotation is disabled for safety reason.
The limit switch Sf582 is located on the safety lock of the lower arm.
E 100.6 – Sp96 Pipe locked on lower arm pressure switch

E 100.7 – Sp97 Pipe not locked on lower arm pressure switch
A 62.3 – Y165 Pipe locking on lower arm valve
The safety lock mechanism is installed on the lower arm and locks/secure the drill pipe. The safety
lock is normally open without drill pipe.
The following electric sequence for the safety clamp open-closed should be seen:
Safety lock OPEN:
-solenoid valve Y165 “ON”
Safety lock CLOSED:

-solenoid valve Y165 “OFF”
Any other electric sequence different from the one above is wrong, and further checks should be done
to fix the problem.
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The pressure switch Sp96 is located on the pipe handler mast near the lower arm.
The pressure switch Sp97 is located on the pipe handler mast near the lower arm.
The solenoid valve Y165 is located on the pipe handler mast near the lower arm.
E 100.3 – Sf93 Pipe out from mouse hole limit switch

When the drill pipe is inside the mouse hole the limit switch Sf93 goes “ON”, and you can also see it
on the computer graphics.
The limit switch Sf93 is located at the top of the mouse hole pipe. It must be kept clean and free of
mud, dirt, etc. The spring and the roller should be checked to move when the drill pipe goes into the
mouse hole and return to initial position when the drill pipe comes out from the mouse hole pipe.
E 101.5 – Sf102A Jib crane hook upper limit switch

E 101.6 – Sf102B Jib crane hook upper limit switch
A 62.6 – Y186 Stop jib crane up
A 62.5 – Y180 Stop jib crane arm descent
When the green light of the switch Sf102A,B is “ON” the pipe handler jib crane hook reaches the top
position, and therefore the valve Y186 goes “OFF”. The jib crane hook can only be lowered.
If the jib crane hook is on the top, and therefore Sf102A,B is “ON” the boom of the jib crane cannot
be lowered (the valve Y180 is “OFF”) until the hook comes out from the limit switch. Therefore, if
you want to lower the boom you have to lower the jib crane hook first.
The limit switch Sf102 is located on the top of the pipe handler jib crane.
The valves Y186 and Y180 are located on the pipe handler mast, just below the directional valve.
E 101.7 – Sf115 Position control high service crane hoist

When the jib crane boom is completely closed, then the limit switch Sf115 goes “ON”.
Further explanation about the functioning of this limit switch will be given further down on the
ACTIVATING page.
The limit switch Sf115 is located on the jib crane boom.
E 101.0 – SEC General emergency on the pipe handler base

A 62.4 – Y177 Emergency safety valve
This is the emergency stop located on the pipe handler mast, and should only be pushed down in case
of pipe handler malfunctioning and/or any other hazard situation that can endanger the operators on
the rig floor. The valve Y177 goes “OFF” and the pipe handler operation is stopped. After carefully
checking and fixing all the issues that have created “the emergency” and after being sure that no
situation can endanger the operators, the emergency button will be pulled out. To resume the pipe
handler operation and enable the valve Y177 (it is always “ON” in normal conditions) you have to push
the green button located on the pipe handler control panel (in the dog-house).
The same emergency button is also located on the pipe handler control panel.
The solenoid valve Y177 is located at the base of the pipe handler opposite side of the rotation
electric motor.
E 101.2 – SPF1 Pressure switch on the hydraulic filter

E 58.2 – Sf583 Service hydraulic pump oil low level
A 62.1 – Y181 PHS safety valve
The pressure switch is located on the hydraulic unit of the pipe handler and it warns about “clogged”
filter. You should proceed to replace the filter when you have this warning.
The oil level of the hydraulic unit of the handler Sf583 warns about “low” oil level. You should
proceed to refill the tank with hydraulic oil up to the correct level.
The valve Y181 is located on the hydraulic unit of the pipe handler and enables the operation of the
hydraulic pump.
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6. ALARM HISTORY
Click to open the display page:
Fig.18 – Alarm History
The display page allows the operator to see and understand the alarm history. Selecting an alarm and
clicking the button on the left corner on each screen, a trouble-shooting window will pop-up letting the
operator to proceed with further checks.
Please, see the Alarm Annex for further explanations.
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7. PIPE HANDLER PARAMETERS
Click to be able to read and change the drill pipe handler parameters:
Upper clamp IN-OUT (Fig.19)
Fig.19 – Upper Clamp IN-OUT Parameters
Upper Clamp IN-OUT parameters
 Encoder ZERO SET – Upper clamp IN-OUT “zeroing” the encoder. “To zero” the encoder (this
operation is to be done in case of the encoder replacement), you have to set the Encoder Zero
Set ENABLED, disable the software limit switches in the ACTIVATING PAGE, and manually move
IN the upper clamp until it reaches the electric limit switch. As a result you will notify on the
right lower corner of the screen that the actual position of the upper clamp Clamp Pos. will
change to “zero”.
 Position IN (Automatic) – 3.5” pipe – Position IN of the upper clamp for 3.5” DP in automatic
cycle of Tripping In and Tripping Out.
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 Position IN (Manual) – Position IN of the upper clamp in manual mode.

 Position OUT to Mouse Hole (Automatic) – 3.5” pipe – Position OUT of upper clamp to mouse
hole for 3.5” DP in automatic cycle of Tripping In and Tripping Out.
 Position OUT to Mouse Hole (Automatic) – 4.0” pipe – Position OUT of the upper clamp to
mouse hole for 4.0” DP in automatic cycle of Tripping In and Tripping Out.
 Position OUT to Mouse Hole (Manual) – Position OUT of the upper clamp to mouse hole in
manual mode.
 Position OUT to bins (Manual) – Maximum position OUT of the upper clamp to the bins in
manual mode.
 IN/OUT deceleration space – with pipe – The distance taken by the upper arm to decelerate
from the high speed to the low speed with DP in automatic cycle.
 IN/OUT deceleration space – without pipe – The distance taken by the upper arm to decelerate
from the high speed to the low speed without DP in automatic cycle.
 IN/OUT stop delay space (inertia) - The distance taken by the upper arm to avoid sudden stops.
The inertia is related to the speed and to the deceleration space, therefore it should be of a
certain value to allow the upper arm to stop as much as closer to the set-up value. If the inertia
has a low value, then there is the possibility that the lower arm to stop suddenly when
decelerating from the high to the low speed, not having enough space and time to stop closer to
the set-up value. If the inertia has a high value, then there is the possibility that the lower arm
to stop before reaching the set-up value. It is, therefore a matter of running few tests setting
different values of the inertia and following in the right corner of the screen the actual position
of the upper clamp identified by Clamp Pos., and comparing with the respective value set-up. A
good value of the inertia is when the positions of the upper clamp (actual and set-up) are
approximately equal or of a little difference.
 IN/OUT tolerance for alarm control – Limit range for the alarm control. This value may be
equal or greater than the value of the inertia.
 Max position OUT for rotation enabled (Automatic) – Maximum safe position OUT of the upper
clamp to enable the pipe handler rotation in automatic cycle of Tripping In and Tripping Out,
with and without DP. Any smaller value than this will enable the pipe handler rotation. Any
bigger value than this will not allow the pipe handler to rotate.
 Position OUT to unlock lower arm – Position OUT of the upper clamp to unlock the lower arm in
automatic cycle of Tripping In. The lower arm should be stopped in the front of the pipe bins,
waiting the upper clamp to get the DP out. When the upper clamp reaches this position, the
lower arm starts moving and accompanying and locking the DP inside the safety lock.
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Upper Clamp UP-DOWN (Fig.20)
Fig.20 – Upper Clamp Up-Down Parameters
Upper Clamp UP-DOWN parameters
 Encoder ZERO SET – Upper clamp UP/DOWN “zeroing” the encoder. “To zero” the encoder (this
the upper clamp DOWN until it reaches the lower electric limit switch. As a result you will
notify on the right lower corner of the screen that the actual position of the clamp Up Down
Pos. will change to “zero”.
 UP/DOWN low speed – Upper clamp UP-DOWN low speed in manual (dog-house joystick and
radio control) and automatic cycle.
 UP/DOWN high speed with pipe (Automatic) – Upper clamp UP-DOWN high speed in automatic
cycle with DP.
 UP/DOWN high speed without pipe (Automatic) - Upper clamp UP-DOWN high speed in
automatic cycle without DP.
 UP/DOWN fast speed (Manual) – Upper clamp UP-DOWN fast speed in manual mode (dog-house
joystick and radio control). We remark that the dog-house joystick will move the upper clamp
UP/DOWN proportionally from 0 to the maximum set-up value (example from 0 to 70%), and the
radio control joystick will do the same thing as long as the switch is positioned to “fast”, and
will do only half of the maximum set-up value (example from 0 to 35%) if the switch is
positioned to “slow”.
 UP start position on Mouse Hole - TRIP OUT – Initial upper clamp position to get DP from mouse
hole in automatic cycle of Tripping Out.
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 UP stop height from Mouse Hole Pipe - TRIP OUT – Distance from the mouse hole pipe limit
switch to the bottom of DP in automatic cycle of Tripping Out (this distance is the base for the
automatic calculation of the final upper clamp position when DP gets completely out from the
mouse hole pipe).
 UP start position inside Bin - TRIP IN – Initial upper clamp position to get DP from pipe bins in
automatic cycle of Tripping In.
 UP stop position inside Bin - TRIP IN – Final upper clamp position inside of the pipe bins, after
catching the DP in automatic cycle of Tripping In.
 UP stop position (Manual) – Maximum upper clamp position in manual mode with or without
pipe.
 DOWN stop position on Mouse Hole - TRIP IN – Upper clamp position when putting DP in the
mouse hole pipe in automatic cycle of Tripping In.
 DOWN stop position (Manual) – Minimum upper clamp position in manual mode with or without
DP.
 UP/DOWN deceleration space - with pipe – The distance taken by the upper clamp to
decelerate from the high speed to the low speed with DP in automatic cycle.
 UP/DOWN deceleration space - without pipe - The distance taken by the upper clamp to
decelerate from the high speed to the low speed without DP in automatic cycle.
 UP/DOWN stop delay space (inertia) - The distance taken by the upper clamp to avoid sudden
stops. The inertia is related to the speed and to the deceleration space, therefore it should be
of a certain value to allow the upper clamp to stop as much as closer to the set-up value. If the
inertia has a low value, then there is the possibility that the upper clamp to stop suddenly when
the set-up value. If the inertia has a high value, then there is the possibility that the upper
clamp to stop before reaching the set-up value. It is, therefore a matter of running few tests
setting different values of the inertia and following in the right corner of the screen the actual
position of the upper clamp identified by Up/Down Pos., and comparing with the respective
value set-up. A good value of the inertia is when the positions of the upper clamp (actual and
set-up) are approximately equal or of a little difference.
 UP/DOWN tolerance for alarm control – Limit range for the alarm control. This value may be
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Pipe Handler ROTATION (Fig.21)
Fig.21 – Pipe Handler Rotation Parameters
Pipe Handler ROTATION parameters
 Encoder ZERO SET – ROTATION “zeroing” the encoder. “To zero” the encoder (this operation is
to be done in case of the encoder replacement), you have to set the Encoder Zero Set ENABLED,
disable the software limit switches in the ACTIVATING PAGE, and manually rotate the pipe
handler CW until it reaches the electric limit switch. As a result you will notify on the right
lower corner of the screen that the actual position of the pipe handler Rotation Pos. will change
to “zero”.
 Rotation low speed – Pipe handler ROTATION low speed in manual (dog-house joystick and radio
control) and automatic cycle.
 Rotation high speed with pipe (Automatic) – Pipe handler ROTATION high speed in automatic
cycle with DP.
 Rotation high speed without pipe (Automatic) – Pipe handler ROTATION high speed in
automatic cycle without DP.
 Rotation fast speed (Manual) – Pipe handler ROTATION fast speed in manual mode (dog-house
joystick and radio control). We remark that the dog-house joystick will ROTATE the pipe handler
proportionally from 0 to the maximum set-up value (example from 0 to 70%), and the radio
control joystick will do the same thing as long as the switch is positioned to “fast”, and will do
only half of the maximum set-up value (example from 0 to 35%) if the switch is positioned to
“slow”.
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 Max manual speed to stop in front of each bin – Pipe handler ROTATION speed in manual mode
when the handler is operated from the radio control joystick (switch positioned to “slow”). It is
useful for “teaching” operation.
 Stop position in front of Mouse Hole – Pipe handler position (upper and lower arms) in front of
mouse hole in automatic cycle of Tripping In, Tripping Out, and Manual.
 Rotation deceleration space - with pipe – The rotation angle taken by the pipe handler to
decelerate from the high speed to the low speed with DP in automatic cycle.
 Rotation deceleration space - without pipe – The rotation angle taken by the pipe handler to
decelerate from the high speed to the low speed without DP in automatic cycle.
 Rotation stop delay space (inertia) – The rotation angle taken by the pipe handler to avoid
sudden stops. The inertia is related to the speed and to the deceleration space , therefore it
should be of a certain value to allow the pipe handler to stop as much as closer to the set-up
value. If the inertia has a low value, then there is the possibility that the pipe handler to stop
suddenly when decelerating from the high to the low speed, not having enough space and time
to stop closer to the set-up value. If the inertia has a high value, then there is the possibility
that the pipe handler to stop before reaching the set-up value. It is, therefore a matter of
running few tests setting different values of the inertia and following in the right corner of the
screen the actual position of the pipe handler rotation identified by Rotation Pos., and
comparing with the respective value set-up. A good value of the inertia is when the positions of
the pipe handler rotation (actual and set-up) are approximately equal or of a little difference.
 Rotation tolerance for alarm control - Limit range for the alarm control. This value may be
 Software limit switch CW (Manual) – The pipe handler in CW motion stops at the software limit
switch when controlled manually, before reaching the electric limit switch.
 Software limit switch CCW (Manual) – The pipe handler in CCW motion stops at the software
limit switch when controlled manually, before reaching the electric limit switch.
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Lower Arm IN-OUT (Fig.22)
Fig.22 – Lower Arm IN-OUT Parameters
Lover Arm IN-OUT parameters
 Encoder ZERO SET – Lower Arm IN-OUT “zeroing” the encoder. “To zero” the encoder (this
IN the lower arm until it reaches the electric limit switch. As a result you will notify on the
right lower corner of the screen that the actual position of the clamp Lower Arm Pos. will
change to “zero”.
 IN/OUT low speed – Lower arm IN-OUT low speed in manual (dog-house joystick and radio
control) and automatic cycle.
 IN/OUT high speed with pipe (Automatic) – Lower arm IN-OUT high speed in automatic cycle
with DP.
 IN/OUT high speed without pipe (Automatic) – Lower arm IN-OUT high speed in automatic cycle
without DP.
 IN/OUT fast speed (Manual) – Lower arm IN-OUT fast speed in manual mode (dog-house joystick
and radio control). We remark that the dog-house joystick will move the lower arm IN-OUT
proportionally from 0 to the maximum set-up value (example from 0 to 70%), and the radio
control joystick will do the same thing as long as the switch is positioned to “fast”, and will do
only half of the maximum set-up value (example from 0 to 35%) if the switch is positioned to
“slow”.
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 TRIP OUT “Clamp – Lower arm” Max Distance – The maximum distance between the upper
clamp and the lower arm, when the pipe handler put the DP into the bins in automatic cycle of
Tripping Out.
 Position IN (Automatic) – 3.5” pipe – Position IN of the lower arm for 3.5” DP in automatic cycle
of Tripping In and Tripping Out.
 Position OUT to Mouse Hole (Automatic) – 3.5” pipe – Position OUT of the lower arm to mouse
 IN/OUT deceleration space – The distance taken by the lower arm to decelerate from the high
speed to the low speed with and without DP in automatic cycle.
 IN/OUT stop delay space (inertia) - The distance taken by the lower arm to avoid sudden stops.
The inertia is related to the speed and to the deceleration space, therefore it should be of a
certain value to allow the lower arm to stop as much as closer to the set-up value. If the inertia
has a low value, then there is the possibility that the lower arm to stop suddenly when
the set-up value. If the inertia has a high value, then there is the possibility that the lower arm
to stop before reaching the set-up value. It is, therefore a matter of running few tests setting
different values of the inertia and following in the right corner of the screen the actual position
of the upper clamp identified by Lower Arm Pos., and comparing with the respective value set-
up. A good value of the inertia is when the positions of the lower arm (actual and set-up) are
approximately equal or of a little difference.
 IN/OUT tolerance for alarm control – Limit range for the alarm control. This value may be
 OUT max position for rotation enabled (Automatic) – Maximum safe position OUT of the lower
arm to enable the pipe handler rotation in automatic cycle of Tripping In and Tripping Out, with
and without DP. Any smaller value than this will enable the pipe handler rotation. Any bigger
value than this will not allow the pipe handler to rotate.
 OUT position to bins – Position OUT of the lower arm in front of pipe bins in automatic cycle of
Tripping In. The lower arm should stop in the front of the pipe bins, waiting the clamp to get
the DP out and then accompanying and locking it inside the safety lock.
 OUT Position to bins on casing mode – Position OUT of the lower arm in casing mode, when the
upper clamp and lower arm are connected together, and both of them are completely OUT at
maximum upper position.
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ACTIVATING (Fig.23)
Fig.23 – ACTIVATING Parameters
ACTIVATING parameters
 IN/OUT Clamp (disabled=locked) – The upper clamp Enabled/Disabled. If you disable the upper
clamp, then it remains locked and the lower arm will move IN/OUT only.
 IN/OUT Lower arm (disabled=locked) – The lower arm Enabled/Disabled. If you disable the
lower arm, then it remains locked and the upper clamp will move IN/OUT only.
 Electric limit switches – Electric limit switches Enabled/Disabled. It enables and disables the
electric limit switches. If the electric limit switches are DISABLED, the upper clamp IN/OUT,
UP/DOWN, pipe handler ROTATION and lower arm IN/OUT will stop at the software limit
switches (limits set-up in every parameters page).
 Software limit switches – Software limit switches Enabled/Disabled. It enables and disables the
software limit switches (limits set-up in every parameters page). If the software limit switches
are DISABLED, the upper clamp IN/OUT, UP/DOWN, pipe handler ROTATION and lower arm
IN/OUT will stop at the electric limit switches. If the electric limit switches are also DISABLED,
the upper clamp IN/OUT, UP/DOWN, pipe handler ROTATION and lower arm IN/OUT will stop at
the mechanical limit switches. It is not recommended to disable both electric and software limit
switches.
 Hydraulic pump – Hydraulic pump Enabled/Disabled. The hydraulic pump is located on the
hydraulic unit of the pipe handler, and it is used to unlock the hydraulic brakes of the upper
clamp IN/OUT, pipe handler ROTATION, and lower arm IN/OUT. It is also used to service the
clamp (opening-closing the jaws of the upper clamp). If the pump is DISABLED, no hydraulic
service mentioned above will work. The pump may be disabled to perform maintenance works
on the pipe handler hydraulic system.
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 Jib tilting in front of top drive safety control – For safety reason, the limit switch under normal
conditions must be ENABLED, and therefore the jib crane boom cannot be tilted in the front of
the top drive (when the jib crane is in the front of mouse hole). The limit switch can be
DISABLED under requirements of some operations (running drill collars or heavy weight DP
located on the rig floor “fingers”), and therefore the jib crane boom will be able to tilt in the
front of the top drive.
 Top drive switches control – For safety reason, the limit switches (top drive up/down, rig jib
crane) under normal conditions must be ENABLED, and therefore the top drive will stop at the
limit switches UP and DOWN, the rig jib crane will rotate, at maximum, parallel with the top
drive but never at the well centre. The limit switches can be DISABLED under emergency
requirements, but the top drive UP/DOWN, and the rig jib crane must be very carefully used.
 Teach mode (rotation with clamp out enabled) – Teach mode ENABLED/DISABLED. To perform
teaching operation the teach mode should be ENABLED (see PIPE BIN PROGRAMMING). Enabling
teach mode will allow the operator to rotate the pipe handler with the upper clamp OUT.
 Jib tilting switch control/Sf115 – For safety reason, the limit switch under normal conditions
must be ENABLED, and therefore the pipe handler can rotate with the jib crane boom tilted
(hydraulic jacks opened) inside of the angles from bin no. 17 to bin no. 9, and from bin no. 1 to
bin no. 8, but never inside the angle from bin no. 1 to bin no. 17 containing the well centre and
mouse hole. The limit switch can be DISABLED under requirements of some operations (bringing
drill collars, heavy weight DP, etc. from the catwalk, and therefore the pipe handler can rotate
at the well centre and mouse hole even with the jib crane boom tilted. If the hydraulic jacks of
the boom are completely closed, then the pipe handler can rotate CW or CCW without
restriction, being only stopped by the software, electric or mechanical limit switches.
 Casing mode – Casing mode ENABLED/DISABLED. To run casing with pipe handler crane, the
operator should have casing mode ENABLED. At this point, the operator is allowed to put down
the upper clamp and connect it with the lower arm. The assembly upper clamp-lower arm is
lifted UP at the maximum position and moved OUT at maximum position, in order to create
enough space to pick-up and run the casing pipes.
Note:
The automatic cycle will only start if all parameters on the ACTIVATING page are of GREEN colour.
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START UP ACTIVATING (Fig.24)
Fig.24 – START UP ACTIVATING Parameters
START UP ACTIVATING parameters
 Rotation brake – In normal operating conditions the pipe handler rotation brake should be
ENABLED. This means the hydraulic brake (installed with the reduction gear of the
electric/hydraulic motor) unlocks with an electric command (solenoid valve Y160 becoming ON)
from manual or automatic mode. If there is no electric command, then the solenoid valve Y160
is OFF, and therefore the brake is locked. If the rotation brake is DISABLED, then regardless of
any electric command the solenoid valve Y160 is always ON, and therefore the brake is
unlocked.
 Clamp brake – In normal operating conditions the upper clamp (IN/OUT motion) brake should be
ENABLED. This means the hydraulic brake (installed with the reduction gear of the electric
motor) unlocks with an electric command (solenoid valve Y161 becoming ON) from manual or
automatic mode. If there is no electric command, then the solenoid valve Y161 is OFF, and
therefore the brake is locked. If the upper clamp brake is DISABLED, then regardless of any
electric command the solenoid valve Y161 is always ON, and therefore the brake is unlocked.
 Lower arm brake – In normal operating conditions the lower arm (IN/OUT motion) brake should
be ENABLED. This means the hydraulic brake (installed with the reduction gear of the electric
motor) unlocks with an electric command (solenoid valve Y162 becoming ON) from manual or
automatic mode. If there is no electric command, then the solenoid valve Y162 is OFF, and
therefore the brake is locked. If the lower arm brake is DISABLED, then regardless of any
electric command the solenoid valve Y162 is always ON, and therefore the brake is unlocked.
Note:
The automatic cycle will only start if all parameters on the ACTIVATING page are of GREEN colour.
See the explanations on Box no. 3 for the pressure switches SP01, SP02, and SP03.
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 Teaching Data (RESTORE) – Restoring the teaching parameters to the last known and
operational configuration.
 Passwords File (RESTORE) - Restoring the passwords file in case of corrupted file.
 Clamp out position adjust (display only) – To adjust the accuracy of the upper clamp motion
seen on the pipe handler touch screen computer in the dog-house.
 Rotation position adjust (display only) – To adjust the accuracy of the pipe handler rotation
seen on the pipe handler touch screen computer in the dog-house.
 Pipe downloading switch Trip-Out time out – See the explanation given for Sf92 at page 24/39.
 Connect to Main CPU MASTER MPI (2) – This is the main active CPU. By default the computer of
the pipe handler is connected to Main CPU MASTER MPI network address #2 (Fig. 21).
 Connect to Spare CPU MASTER MPI (3) – This is the spare active CPU. In case of main active CPU
failure, the computer of the pipe handler must be connected to Spare CPU MASTER MPI network
address #3 (Fig. 22). The Spare CPU MASTER MPI (3) is identical with the Main CPU MASTER MPI
(2), and it is active on stand-by, ready to be used. If the computer of the pipe handler is
switched to the Spare CPU MASTER MPI (3), then all electrical cables (previously connected to
the Main CPU MASTER MPI (2) and PLC modules) should be reconnected to the Spare CPU MASTER
MPI (3) and respective PLC modules.
Page 39 of 39
Alarm text - Alarm Help message Troubleshooting
Alm01: General emergency pressed: - Check the The general emergency button in container is
General emergency on emergency button in container - Press restart pushed, press restart button in Dog House
main panel button in Dog House
Alm02: Rotation hydraulic motor:- Select electric Select the electric rotation motor moving up
Alarm hydraulic rotation motor - Move to up position the coupling position the coupling below the hydraulic
rotation motor insertion below the hydraulic motor motor
switch
Alm03: General emergency pressed: - Check the General emergency pressed in Dog House
Alarm general emergency button in Dog House Touch screen - Touch screen - Press restart button in Dog
emergency pressed Press restart button in Dog House House
(Dog House)
Alm04: General emergency pressed: - Check the General emergency pressed emergency
General emergency on pipe emergency button on the pipe handler - Press button on the Pipe handler - Press restart
handler - SEC restart button in Dog House button in Dog House (optional)
Alm05: General emergency pressed: - Check the General emergency pressed on pipe handling
Alarm general emergency button bottom pipe handling - Press - Press restart button in Dog House
emergency pressed restart button in Dog House
(bottom side)
Alm06: P.H.S. hydraulic pump overload: - Check the P.H.S. hydrolic pump overload, Check the
Alarm service mechanical connection of the motor - Check mechanical connection of the motor and QM5
hydraulic pump QM5
overload
Alm07: Bad command position enable, probably there Bad command position enable, probably there
Alarm more than one are more of one key switched: - Check the are more of one key switched (optional)
control console other key
operating.
Alm08: Jib crane arm out of position : - Check that the Jib crane arm is out of position, the Pipe
Alarm Jib Crane arm Pipe Handling Jib crane arm is up - Check Handling Jib crane arm is up, Check SF115
out of position (not up) SF115
Alm09: Hydraulic pump heater overload alarm: - Check Hydraulic pump heater overload alarm, Check
Hydraulic pump heater the mechanical connection of the motor - Check the mechanical connection of the motor and
overload alarm QEH1 QEH1
Alm10: Check the emergency button on the radio Check the emergency button on the radio
Radio command command - Press restart button in Dog House command - Press restart button in Dog House
emergency pressed
Alm011:
Alm012: Jib crane out of position : - Check the position The jib crane is out of position, Check the
Alarm Jib crane out of of the Pipe Handling Jib crane (it must be up) – position of the Pipe Handling Jib crane (it
position (not up) Check SF102 must be up) and SF102
Alm013: Insert at least one bin in program list at SET

No bins programmed display
Alm014: Increase stop threshold in parameters page The speed is too high and the pipe handler
Up/down encoder cannot stop properly or the stopping threshold
position or stop is too tight to reduce the speed and stop.
threshold too tight
Alm015: Main power circuit OFF, check safe guard switch Press restart button in Dog House to switch
Page 1 di 9
Main power circuit OFF, : - Press restart button in Dog House on the main power supply
check safe guard switch
Alm016: Overload motors resistance heater power Overload motors resistance heater power
Overload motors supply : - Check the mechanical connection of supply, Check the mechanical connection of
resistance heater the motor - Check QEH the motor and QEH
power supply.
Alm017: Timeout up/down clamp: : - Check the valves Time out up/down clamp moving, Check the
Alarm up/down clamp on the pipe handling – Check the encoder E4 valves on the pipe handling and the encoder
valves E4
Alm018:
Alm019: During clamp descent into bin to leave the pipe, Check if the downloading switch SF92 works
Alarm weight switch on the downloading switch didn’t work (Sf92) or if the clamp is locked (example by ice)
clamp (Sf92) Check also the safety position on parameter
or alarm time out.
Alm020: During tripping in, putting pipe to mouse hole, Check the switch on the bottom of mouse
Pipe inside Mouse Hole the switch didn’t work or during tripping out, hole if connected and working.
switch (on the bottom of getting pipe from mouse hole. (Sf93).
the rig)
Alm021: Up clamp extra run: - Check the Sf90 The clamp run too up Sf90.
Alarm limit switch rise
clamp (Sf90)
Alm022: Down clamp extra run: - Check the Sf91 The clamp run too down Sf91.
Alarm limit switch fall
clamp (Sf91)
Alm023: Up/down clamp position is out of tolerance: -
The Up/down clamp stop position is out of
Alarm up/down clamp Check the motor brake – Check VV4 speed tolerance (different from program), Check the
position out of motor brake and inverter VV4 speed. The
tolerance speed parameter can be too high or the
deceleration space too short. The stop space
(inertia) can be adjusted too, or if there are no
other solution possible and cannot start
properly, the tolerance parameter can be
increased.
Alm024: Alarm 24VDC NOT OK :- Check the 24VDC The 24VDC power supply is not working
Alarm 24VDC NOT OK power supply properly, check the power supply into pipe
handler cabin
Alm025: Encoder up/down clamp (E4)alarm : - Check the The up-down clamp encoder is not working
Encoder up/down encoder E4 - Check the connection of encoder properly (not counting) check connection
clamp (E4)alarm E4
Alm026: Up/down clamp inverter break resistor : - Check Up/down clamp inverter break resistor is too
Alarm up/down clamp the break resistor in the power box inside hot, Check the power box inside container
break resistor container - Check the module resistor in the and RBR4
(inverter) power box inside container RBR4
Alm027: Check software switches position on activating All software switches in activating parameter
Turn on software parameter page section must be OFF (GREEN) to be able to
switches (activating) start automatic cycle. This alarm avoid the
operator to forget to set the right status before
starting.
Alm028: Check max pull on mouse hole switch or mouse If the top drive is pulling and the mouse hole
Max pull on mouse hole open/close switches is closed, this can be damaged: for safety, the
hole by pipe handler top drive up enable valve goes off if this limit
switch is pressed.
Page 2 di 9
Alm029: Leave the pipe, move up or down and try again - For safety control, the pipes must be taken in
Pipe catching position Check parameter set up (DANGEROUS) defined positions. (parameters values). In
control is different from automatic this always happens but in manual
data set on don’t. So, if the operators catch the pipe in a
configuration system wrong position, the alarm will avoid to start
display automatic and crashes.
Alm030: - The pipe size from the bin have been If during tripping work the pipe handling unit
Pipe size has been automatically changed: control clamp device. passes from a bin to an other with different
changed kind of pipe in, the cycle will stop giving this
alarm because could be necessary a clamp
substitution. If not, just push reset and restart
again.
Alm031: Working bin is empty for trip in or full for trip out Check the bins in SET page
Working bin is empty
for trip in or full for trip
out
Alm032: Working bin is empty or full for move There are no more bins available to go on
Working bin is empty tripping: change tripping list or bins.
or full for move
Alm033: Timeout in/out clamp: - Check the Y161 – Timeout in-out clamp moving, Check the
Alarm break clamp Check R82 & R83 – Check the Encoder E2 Y161 valve on the pipe handling – Check R82
(Y161) & R83 relay in the container electric box and
the encoder E2.
Alm034: In/Out clamp motor protection: - Check the In-out clamp motor protection: - Check the
Alarm in/out clamp motor (M2) – Check the mechanical connection motor (M2) – Check the mechanical
motor or inverter of the motor – Check the in/out clamp break - connection of the motor – Check the in-out
Check QVV2 & VV2 break - Check the inverter QVV2 & VV2.
Alm035: Sf84 (stop out clamp on pipe): - Check the Sf84 During clamp extracting, reaching position,
Alarm pipe not found – Check the pipe in position the switch didn’t work (Sf84) or there must be
(Sf84) something wrong in the bins configuration
because the pipe handler is looking for a not-
existing pipe. Refresh configuration or check
the switch.
Alm036: Open/close clamp: - Check Yv164 and Sf94 & A timer control clamp during clamp opening or
Alarm closing clamp P95 closing: if the pressure switches didn’t work,
(Yv164/Sf94/P95) after the timer, the alarm comes out: Check
the valves Yv164 and switches Sf94 & P95.
Alm037: Alarm out clamp for wrong position of top drive: There are several control to avoid crashes on
Top drive not in while - Check Sf85 the system. This alarm control top drive and
extracting clamp - R82 pipe handler clamp: if top drive could come
- SF85 out during clamp extracting, check its position
or switch Sf85.
Alm038: Clamp out extra run: - Check the Sf82 The clamp run too forward (Sf82).
Alarm limit switch
extract clamp
Alm039: In/out clamp position is out of tolerance: - The in-out clamp stop position is out of
Alarm in/out clamp Check the motor brake – Check VV2 speed tolerance (different from program), Check the
increased.
Alm040: Oil flow and pipe handler cpus communication It is possible to disable the alarm into alarm
Alarm Communication fault. Oil flow send the enable for up-down must view status display (“I” section)
Oil flow-Pipe handler (Y170 and Y171); if one ore supercharging are
st nd
Cpus not working, the must can operate only 1 or 2
gear.
Page 3 di 9
Alm041: Clamp is closed but pipe switch not working Check the switch under the clamp SF84
Alarm Check Sf 84
may be in failure
Alm042: Clamp in extra run: - Check the Sf83 The clamp run too IN, Sf83.
Alarm limit switch
retract clamp (Sf83)
Alm043: Increase stop threshold (stop space, inertia) in The speed is too high and the pipe handler
Clamp In/out encoder parameters page cannot stop properly or the stopping threshold
threshold too tight
Alm044: Encoder in/out clamp (E2)alarm : - Check the The in-out clamp encoder is not working
Encoder in/out clamp encoder E2 - Check the connection of encoder properly (not counting) check connection
(E2)alarm E2
Alm045: In/out clamp inverter break resistor : - Check In-out clamp inverter break resistor is too hot,
Alarm in/out clamp the break resistor in the power box inside Check the power box inside container and
break resistor container - Check the module resistor in the RBR2
Alm046: Pipe switch working but clamp open Check the switch under the clamp SF84
Alarm Clamp closed
but pipe not engaged
(check sf84)
Alm047:
Alm048:
Alm049: Timeout in/out lower arm: - Check the Y162 – Timeout in-out lower arm moving, Check the
Alarm lower arm break Check R84 & R85 – Check the Encoder E3 Y162 valve on the pipe handling – Check R84
(Yv162/Sf96/Sf97) & R85 relay in the container electric box and
the encoder E3.
Alm050: In/out lower arm motor protection: - Check the In-out lower arm motor protection: - Check
Alarm lower arm motor motor (M3) – Check the mechanical connection the motor (M3) – Check the mechanical
or inverter of the motor – Check the in/out lower arm break connection of the motor – Check the in-out
- Check QVV3 & VV3 break - Check the inverter QVV3 & VV3.
Alm051:
Alm052: Open/close pipe locking on lower arm: - Check Opening or closing pipe locking on lower arm,
Alarm lower arm finger Yv165 & Sf96 & SF97 the switches didn’t work, Check the valve
(Y165/Sf96/Sf97) Yv165 & switches Sf96 & SF97.
Alm053: Alarm out lower arm for wrong position top Top drive out while lower arm was out, (Sf85).
Alarm extract lower drive: - Check Sf85
arm for top drive not in
Alm054: Lower arm out extra run: - Check the Sf86 Lower arm run too forward (Sf86).
Alarm limit switch
extend lower arm
(Sf86)
Alm055: In/out lower arm position is out of tolerance: - The in-out lower arm stop position is out of
Alarm in/out lower arm Check the motor brake – Check VV3 speed tolerance (different from program), Check the
increased.
Page 4 di 9
Alm056:
Alm057:
Alm058: Lower arm in extra run: - Check the Sf87 Lower arm run too IN (Sf87).
Alarm limit switch
retract lower arm
(Sf87)
Alm059:
Alm060: Pipe engaged limit switch on lower arm Check the pipe engaged limit switch (SF582)
Pipe engaged limit (SF582): lower arm closes the clamp but the on the lower arm or push in the pipe.
switch on lower arm pipe is not inserted.
(SF582)
Alm061: Encoder in/out lower arm (E3)alarm : - Check The in-out lower arm encoder is not working
Encoder in/out lower the encoder E3 - Check the connection of properly (not counting) check connection.
arm (E3)alarm encoder E3
Alm062: IN/out lower arm inverter break resistor : - In-out lower arm inverter break resistor is too
Alarm in/out lower arm Check the break resistor in the power box inside hot, Check the power box inside container
break resistor container - Check the module resistor in the and RBR3.
Lower arm In/out parameters page cannot stop properly or the stopping threshold
encoder position or is too tight to reduce the speed and stop.
stop threshold too tight
Alm064:
Alm065: Timeout rotation: - Check the Y160 – Check Timeout rotation moving, Check the Y160
Alarm rotation break R80 & R81 - - Check the Encoder E1 valve on the pipe handling – Check R80 &
(Y160) R81 relay in the container electric box and the
encoder E1.
Alm066: Rotation motor protection: - Check the motor Rotation motor protection: - Check the motor
Alarm rotation motor or (M1) – Check the mechanical connection of the (M1) – Check the mechanical connection of
inverter motor – Check the rotation break - Check the motor – Check the rotation break - Check
QVV1 & VV1 the inverter QVV1 & VV1.
Alm067:
Alm068:
Alm069: Counter clockwise rotation extra run: - Check Pipe handler run too clockwise (Sf81).
Alarm limit switch the Sf81
counter clockwise
rotation (Sf81)
Alm070: Clockwise rotation extra run: - Check the Sf80 Pipe handler run too counter clockwise
Alarm limit switch (Sf80.)
clockwise rotation
(Sf80)
Page 5 di 9
Alm071: Rotation position is out of tolerance: - Check The rotation stop position is out of tolerance
Alarm rotation position the motor brake – Check VV1 speed (different from program), Check the motor
out of tolerance brake and inverter VV1
speed. The speed parameter can be too high
or the deceleration space too short. The stop
space (inertia) can be adjusted too, or if there
are no other solution possible and cannot
start properly, the tolerance parameter can be
increased.
Alm072: The operator is trying to rotate the pipe handler To be able to do it, teach mode at activating
Alarm OUT max even if lower arm or clamp are out. set page must be enabled.
position for rotation
enabled
Rotation encoder parameters page cannot stop properly or the stopping threshold
threshold too tight
Alm074: Encoder rotation (E1)alarm : - Check the The rotation encoder is not working properly
Encoder rotation encoder E1 - Check the connection of encoder (not counting) check connection.
(E1)alarm E1
Alm075: Rotation inverter break resistor : - Check the Rotation inverter break resistor is too hot,
Alarm rotation break break resistor in the power box inside container Check the power box inside container and
resistor (inverter) - Check the module resistor in the power box RBR1.
inside container RBR1.
Alm076:
Alm077:
Alm078:
Alm079:
Alm080:
Alm081: Open Mouse hole clamp: - Check Yv166 and During Mouse hole clamp opening, the switch
Alarm opening Mouse Sf100 or the valve didn’t work, Check Yv166 and
Hole clamp Sf100
(Yv166/Sf100)
Alm082: Close Mouse hole clamp: - Check Yv167 and During Mouse hole clamp closing, the switch
Alarm closing Mouse P101 or the valve didn’t work, Check Yv167 and
Hole clamp pressure switch P101.
(Yv167/P101)
Alm083: Mouse clamp is out of position: - check the Mouse hole clamp is locked in the middle, the
Alarm Mouse hole out valves Yv166 e Yv167 and switches Sf100, PLC is trying to move it but not working.
of position P101
Alm084:
Alm085:
Alm086:
Alm087:
Alm088:
Alm089:
Page 6 di 9
Alm090:
Alm091: DEHN protection active: - Check main power DEHN protection active, The main power
Alarm protection supply at the container supply voltage is too high.
DEHN device
Alm092: Jib crane service out of position :- Check - Jib crane service out of position :- Check -
Jib crane service out of Sf115 - Sf102 Sf115 - Sf102"
position
Alm093:
Alm094: A new user is logged in. This doesn’t stop the automatic cycle
New user logged in
Alm095: The mouse hole clamp can be opened and After a time out, if there are no switches, the
Alarm mouse hole closed hydraulically by the driller. To be able to alarm comes out: the automatic cycle is not
clamp not completely start the trip cycle, the pipe handler needs the stopped: the driller has just two open
open switches. completely the mouse hole and the alarm will
disappear by itself.
Alm096: Put Control unit in Run Position (safety circuit Reset Siemens safe guard - CSG pushing
Put Control unit in Run breaker is not engaged). green button in Dog House
Position
Alm097: Main electric power supply volts is too up or too Main electric power supply volts is too up or
Alarm main power low: - Check the main electric power supply too low: - Check the main electric power
supply volts is too up supply
or too low
Alm098: Main electric power supply frequency is too up Main electric power supply frequency is too
Alarm main power or too low: - Check the main electric power up or too low: - Check the main electric
supply frequency is too supply power supply
up or too low
Alm099: - Check the oil level of the pump and cable OPTION
Pipe handling unit connections (input E58.2)
Service hydraulic
pump oil low level
Alm0100: The clamp teaching has a not valid value: check Teach the pipe handler again
Clamp teaching not the clamp position and teaching control values.
valid value
Alm0101: One ore more pipes worked more time then set Reset the hours in bins configuration display
Alarm too many pipes value (they will be red flashing). and change pipes when possible.
working hours
Alm0102: The line step teaching has a not valid value: Teach the pipe handler again
Line step teaching not check the position and teaching control values.
valid value
Alm0103: The line teaching has a not valid value: check Teach the pipe handler again
Line teaching not valid the position and teaching control values.
value
Alm0104:
Alm0105: Higher temperature in auxiliary electric box The temperature inside auxiliary panel is too
Alarm high (container): - Check T60 high, check T60 control relay
temperature in
auxiliary electric box
(container)
Page 7 di 9
Alm0106: Lower temperature in auxiliary electric box The temperature inside auxiliary panel is too
Alarm low temperature (container): - Check the temperature - Check low, check T61 control relay
in auxiliary electric box T61
(container)
Alm0107: Higher temperature in power electric box The temperature inside power panel is too
Alarm high (container): - Check the temperature - Check high, check T53 control relay
temperature in power T53
electric box (container)
Alm0108: Lower temperature in power electric box The temperature inside power panel is too
Alarm low temperature (container): - Check the temperature - Check low, check T54 control relay
in power electric box T54
(container)
Alm0109: Higher temperature in PC box (container): - The temperature inside PC panel is too high,
Alarm high Check the temperature - Check T66 check T63 control relay
temperature in PC box
(container)
Alm0110: Lower temperature in PC box (container): - The temperature inside PCpanel is too low,
Alarm low temperature Check the temperature - Check T67 check T67 control relay
in PC box (container)
Alm0111: DC-USV-MODUL – The PLC battery charger is Check the electric device, connections, shots
DC-USV-MODUL not charging the battery. circuits and overloads.
Alm0112: Battery NOT OK PLC Power supply OFF, this alarm will shut
Battery NOT OK down the PCs within 30 seconds. The main
power supply in the pipe handling unit
cabinet.
Alm0113: Communication error with Rotation Encoder (DP PLC can not communicate to Rotation
Alarm communication 5): - Check the connections Encoder (DP 5), check power and profibus
with Rotation Encoder connections
E1 (DP 5)
Alm0114: Communication error with in/out clamp Encoder PLC can not communicate to in/out clamp
Alarm communication (DP 6): - Check the connections Encoder (DP 6), check power and profibus
with in/out clamp connections
Encoder E2 (DP 6)
Alm0115: Comunication error with in/out roller Encoder PLC can not communicate to in/out lower arm
Alarm comunication (DP 7): - Check the connections Encoder (DP 7), check power and profibus
with in/out roller connections
Encoder E3 (DP 7)
Alm0116: Comunication error with up/down clamp PLC can not communicate to up/down clamp
Alarm comunication Encoder (DP 8): - Check the connections Encoder (DP 8), check power and profibus
with up/down clamp connections
Encoder E4 (DP 8)
Alm0117: Communication error with Box 2 Mast (DP 20): PLC can not communicate to Box 2 Mast
Alarm communication - Check the connections (DP 20), check power and profibus
with Box 2 Mast (DP connections
20)
Alm0118: Communication error with Box 2 Mast (DP 21): PLC can not communicate to Box 2 Mast
Alarm communication - Check the connections (DP 21), check power and profibus
with Box 2 Mast (DP connections
21)
Alm0119: Communication error with Box 3 Pipe handling PLC can not communicate to Box 3 Pipe
Alarm communication (DP 30): - Check the connections handling (DP 30), check power and profibus
with Box 3 Pipe connections
handling (DP 30)
handling (DP 31)
Page 8 di 9
handling (DP 32)
handling (DP 33)
Alm0123:
Alm0124:
Alm0125: Communication error with Box 8 Dog House PLC can not communicate to Box 8 Dog
Alarm communication (DP 83): - Check the connections House (DP 83), check power and profibus
with Box 8 Dog House connections
(DP 83)
(DP 82)
(DP 81)
(DP 80)
Page 9 di 9

Drill Pipe Handler Operating Manual

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Drill Pipe Handler - OPM

HH220 & HH300 – AUTOMATIC DRILL PIPE HANDLER

The Drill Pipe Handler is composed by:

Fig.1 – Main Circuit Breaker

Fig.2 – Back-Up Battery

Fig.4 – CPU leds – correct booting

5) Turn on the UPS of the main computer to start Windows (Fig.5,6)

Fig.5 – UPS Unit

Fig.6 – Windows Desktop (Main Computer)

Fig.7 – Main Screen

Back to Main Screen

Second page showing the pipe bins no. 18 to 34.

Measuring system select: US (inch) or METRIC (mm)

Real PLC total working cycle time

2. PIPE BINS PROGRAMMING

Fig.8 – Enable Teach Mode

Fig.9 – Enable Max Number of Pipes

Click to open Pipe Bins Programming page (Fig.10)

Fig.10 - Pipe Bins Programming (Teaching)

Fig.10a - Pipe Bins Programming (Pipes Step)

a. Pipe Bin no. 1 – LINE 1

Fig.10b - Pipe Bins Programming (Rotation)

14) Manually open the clamp and move IN the Upper-Clamp.

3. TRIP-IN / TRIP-OUT SEQUENCE PROGRAMMING

Click to program the automatic bins tripping sequence (Fig.11)

Fig.11 - Trip-In (Trip-Out) Sequence Programming

• Click to erase all locations and re-program the sequence

4. DEPTH AND GRAPHIC

Click to open depth trend graphic (Fig.12)

Fig.12 – Depth and Graphic

5. ELECTRIC CONNECTION BOX-PANELS

Click to open the display page:

Fig.13 – Electric Connections Box-Panels

Fig.14 – Box no.8

Fig.15 – Box no.2

E 30.0 – Sf85 Top drive tilt close limit switch

E 30.1 – Sf100 Mouse hole clamp open limit switch

E 30.3 – Sf104 Top drive upper limit switch

E 30.4 – Sf105 Top drive lower limit switch

E 31.0 – Sf99A Upper stop mast jib crane

E 31.2 – Sf188 Rotation stop mast jib crane

Fig.16 – Box no.3

Fig.17 – Box no.3 (continued)

E 100.0 – Sf80 Clockwise rotation stop limit switch

E 101.4 – Sf90 Clamp up stop limit switch

E 58.4 – Sf82 Clamp out stop limit switch

E 58.6 – Sf84 Clamp engagement limit switch

E 58.7 – Sf92 Clamp downloading limit switch

E 58.3 – Sp95 Clamp close pressure switch

E 100.4 – Sf86 Lower arm out stop limit switch

E 58.1 – Sf582 Pipe engaged limit switch on lower arm

E 100.6 – Sp96 Pipe locked on lower arm pressure switch

Safety lock CLOSED:

E 100.3 – Sf93 Pipe out from mouse hole limit switch

E 101.5 – Sf102A Jib crane hook upper limit switch

E 101.7 – Sf115 Position control high service crane hoist

E 101.0 – SEC General emergency on the pipe handler base

E 101.2 – SPF1 Pressure switch on the hydraulic filter

Click to open the display page:

Fig.18 – Alarm History

7. PIPE HANDLER PARAMETERS

Upper clamp IN-OUT (Fig.19)

Fig.19 – Upper Clamp IN-OUT Parameters

Upper Clamp IN-OUT parameters