Page 539 - The ROV Manual - A User Guide for Remotely Operated Vehicles 2nd edition

536 CHAPTER 20 Tooling and Sensor Deployment
identical to ISO 13628-8: 2002. While the current revision of the API 17 standard is “H,” many of the older wellhead equipment still use the older version of the ROV interface standard, API 17D. There are some subtle, yet important, differences between the API 17D and 17H standards. As stated in section 19.7, API RP 17H was updated in June 2013 departing this standard from ISO 13628-8. When planning a field operation, the project manager will do well to verify the applicable local standard employed. The most prevalent region still using the older standard is the Gulf of Mexico region while most other regions have adapted the newer API 17H/ISO 13628-8 standard.
To review, the five categories of ROV tooling configurations defined within the ISO 13628-8 (discussed in Section 19.7) are:
1. Vehicle with manipulators for direct operation of the interface 2. Vehicle with manipulator-held tooling
3. Vehicle with tool deployment unit (TDU)
4. Dual down line method (ROTs or remotely operated tooling) 5. Vehicle with tooling skid or frame
Table 20.1 Workspace for Various Types of Robots
Articulated robot
Cartesian robot
Cylindrical robot
Parallel robot
SCARA robot
Spherical robot
Principle
Workspace