LEM
CES AND AGS c, brt
SEPT 1966
A. SERVICE AND PRODUCT SUPPORT DEPARTMENT/GRUMMAN AIRCRAFT ENGINEERING CORPORATION BETHPAGE/NEW YORK
VA
S-BAND STEERABLE ANTENNA
ASCENT STAGE DOCKING HATCH
DOCKING WINDOW
+.X VHF INFLIGHT ANTENNA (2)
OPTICAL ALIGNMENT TELESCOPE
RENDEZVOUS RADAR ANTENNA LANDING
) WINDOW
2
S- BAND OMNI ANTENNA (2)
+Y
PITCH
RCS THRUSTER ASSEMBLY
JIu
- EGRESS PL ATFORM
4
• PHL A
ATTCFH
INGRESS EGR
INGRESS-EGRESS
RCS NOZZLE
+Z ROLL
-x
LADDER DESCENT DESCENT ENGINE
SKIRT STAGE LANDING GEAR
T370 MAY 66
I LEM VEHICLE
DESCENT ENGINE
REACTION CONTROL
SUBSYSTEM (RCS)
ON - OFF COMMANDS
GIMBAL COMMANDS
AUTOMATIC THROTTLE COMMANDS DESCENT ENGINE CONTROL ASSEMBLY
(DECAL
ENG. ON-OFF
MANUAL ENG. CMOS.
ENG ON-OFF
CMDS.
OUT OF DETENT
TRANSLATION COMMANDS
LEM ATTITUDE GUIDANCE RATE CMOS.
COMPUTER A D OUT (LGC) OF DETENT
SIGNAL
CONTROL PANEL
ABORT ELECTRONICS
ASSEMBLY (AEA)
40
MANUAL THROTTLE COMMANDS
DESCENT
THRUST ENGINE
TRANSLATION ON-OFF
CONTROLLER COMMANDS ASSEMBLIES (TTCA'S)
CMDS.
CONTROL ASSEMBLY
AND PULSE CMDS.
al GIMBAL COMMANDS
GIMBAL DRIVE
ACTUATORS (GDA'S)
TRANSLATION COMMANDS
ATTITUDE CONTROLLER ASSEMBLIES (ACES)
ATTITUDE RATE
TRIM COMMANDS
ASCENT ENG. ON -OFF CMDS. DEVICES
STAGE AND ASCENT ENG. PRESSURIZE EXPLOSIVE
RATE GYRO ASSEMBLY
(RGA)
1
1
ATTITUDE AND TRANSLATION
CONTROL ASSEMBLY
(ATCA)
THROTTLE COMMANDS
PRIMARY SOLENOID CMDS.
DIRECT AND HARDOVER CMDS. No.
+X TRANSLATION CMDS.
ASCENT ENGINE
@ra _914 -OFF COMMANDS ATTITLJDE ERROR SIGNALS
CONTROL ELECTRONICS SECTION BLOCK DIAGRAM T 3031 2-24 MAY 66
•
•
"noraiNINOMPI PRIMARY
GN AND C PRIMARY _ MORT-
MID
CONTROL ELECTRONICS
a ABORT GUIDANCE
WINDOW
NOV
FREACTION CONTROLS
)PROPULSION
I INTEGRATED FLIGHT CONTROL SUBSYSTEM I T30312- 1T SEPT 65
COMMANDS
THROTTLE 4„ COMMANDS
REACTION CONTROL
SUBSYSTEM (RCS)
GIMBAL COMMANDS
INERTIAL MEASUREMENT
UNIT (IMU)
LANDING RADAR (LR)
LEM VELOCITIES
ALTITUDE
GIMBAL ANGLES
ACCELEROMETER DATA
LEM GUIDANCE
COMPUTER (LGC)
THROTTLE
THROTTLE COMMANDS
DESCENT ENGINE
DESCENT ENGINE
CONTROL ASSEMBLY
(DECA)
GIMBAL GIMBAL DRIVE ACTUATOR ODA'S) COMMANDS
DESCENT ENGINE ON-OFF COMMANDS
ON-OFF THRUST' COMMANDS
TRANSLATION CONTROLLER ASSEMBLIES
(TTCA'S)
MANUAL COMMANDS
COMMANDS ••■■■••■•••••••■■•••
rPRIMARY GUIDANCE AND NAVIGATION SECTION 1
TRANSLATION ..--1 COMMANDS
CONTROL ASSEMBLY
ON-OFF ASCENT ENGINE
RANGE
ENGINE ON-OFF
JET ON-OFF COMMANDS
TRACKING ANGLES
TRANSPONDER
ALIGNMENT OPTICAL
TELESCOPE (AOT)
L .J ATTITUDE
CONTROLLER ASSEMBLY
(ACAS)
RATE GYRO
ASSEMBLY (RGA)
ATTITUDE AND TRANSLATION
CONTROL ASSEMBLY
(ATCA)
ON-OFF COMMANDS
RENDEZVOUS RADAR (RR)
RANGE RATE
DATA DERIVED FROM... STAR SIGHTINGS
COMMANDS ON-OFF
PRIMARY GUIDANCE PATH SIMPLIFIED BLOCK DIAGRAM T30312-23 SEPT 66
REACTION CONTROL
SUBSYSTEM (RCS)
ABORT SENSOR
ASSEMBLY IASA1
ONO NATI
ACCELEROMETER
THRUST TRANSLATION CONTROLLER ASSEMBLIES ITTC11.11)
THROTTLE COMMANDS
DATA
DESCENT ENGINE
CONTROL ASSEMBLY MEM
-a
DESCENT ENGINE
THROTTLE COMMANDS
GIMBAL GINSAL DRIVE i COMMANDS ACTUATOR (GOA) -
FAUST swam MUM
ABORT ELECTRONICS
ASSEMBLY (AEA)
—1
ON-OFF COMMANDS
CONTROL
ASSEMBLY
MANUAL COMMANDS
ENGINE ON-OfF COMMANDS
TRIM COMMANDS
ON-OFF COMMANDS
ASCENT ENGINE
DATA ENTRY RATE GYRO
ASSEMBLY MGM
DATA READOUT
DATA ENTRY AND DISPLAY
ASSEMBLY ( DEDA)
I •
TRANSLATION COMMANDS
ON - OFF COMMANDS
ROTATION COMMANDS
ON - OFF COMMANDS
ATTITUDE ERRORS ATTITUDE AND TRANSLATION
CONTROL ASSEMBLY
(AICA)
I ABORT GUIDANCE PATH BLOCK DIAGRAM I T30312-25 SEPT 66
co If OUTER CASE OR
SUPPORT FRAME
TORQUE VECTOR AXIS OR INPUT AXIS (IA)
GYRO FLYWHEEL
VISCOUS DAMPING
BALL BEARING PRECESSION AXIS
OR OUTPUT AXIS (O.A.)
MOVABLE GIMBAL
MICROSYN PICKOFF (STATOR - ROTOR)
RESTRAINT TORSION BAR
GYRO MOTOR SPIN VECTOR AXIS (S.A.)
DIRECTION OF ANGULAR INPUT ROTATION
ow MP
IRATE GYRO-SIMPLIFIED DRAWING! T 30312-29 FEB 66
T 30312 -21 SEPT 66
RATE GYRO ASSEMBLY SCHEMATIC
HI 28V 800 CPS P1CKOFF
LO EXCITATION
NEUTRAL
A PHASE
28%800CPS 3 PHASE
13 PHASE
C PHASE
LO} X GYRO OUTPUT
HI
LO1
X GYRO TORQUER
HI
LOl Y GYRO OUTPUT
HI
LO
Y GYRO TORQUER
HI
HL°I}
Z GYRO OUTPUT
LO . Z GYRO TORQUER
HI
PI
r —21
14 —OBI
I 6 RT1-1 i
TI 1 I tSEC
15 8/ RI
270n I q I L2
101
L MPI X GYRO
CI D39 of
T R7 SELECT
R4 RIO NIAA
115n RI3 isAh
SELECT r -s r -1
is i 593n
CRI i i 1 CR2 I I
I. ..IL ..I R 1•4
Y AXIS GYRO SAME AS X AXIS
Z AXIS GYRO SAME AS X AXIS E
X
C
K
L
0
N
P
R
111111111
LIMITING ENABLE
ASS )•PaNS
SOO CPS
REGULATED
KEYED DEMODULATOR
000 CPS
FILTER
PULSE RATIO
MODULATOR
ZERO + CROSS
DIET.
ASS. VALUE CIR.
JET COMMANDS FROM LAC
PRE AMP
PRE AMP
L
ATTITUDE ERROR
FROM ASS
L RATE
COMMANDS--0 FROM ACA
RATE SIGNAL—
FROM RSA
NOTE ONLY THE PITCH ERROR CHANNEL IS SHOWN. THE ROLL AND YAW CHANNELS ARE SIMILAR TO THE PITCH CHANNEL
♦28 VDC PRIMARY POWER
KPPS • FROM
MIST RUMENTAT ION
DEAD BAND SWIM _TRANSLATION SIGNALS
FROM TCA
DECA (ROLL AND PITCH ONLY
WIDE DEADSAND
-•44IM
NORMAL PITCH.
PULSE
COMMANDS FROM ACA
ATTITUDE 2 JET-4 JET SELECT
T (PULSE MODE)
JE1>_
GNI
F;;cmel
PRM (I OF ID
•
0
AMP
PRE AMP
POWER SUPPLY
_al NARROW DEADSAND
AMP
'tree
L E C T L 0
YAW I -*PAM
PRA
TO RCS SOLENOIDS
ATTITUDE AND TRANSLATION CONTROL ASSEMBLY BLOCK DIAGRAM T30315-5
5EPT 66
TRANSLATION SELECT
VERTICAL JET SELECT LOGIC
r -
IP
+E
JET +ULU - MD -INDICATES INVERTING TERMINAL
+INDICATES NON-INVERTING TERMINAL
I'M
1 +IIIU - MD
• +IIU - IID
+ --11101
-0.---11100
+IU - ID
..
TWO JET ROTATION SELECT (VERT)
0
0
0 A
A
CONTROL PANEL TWO JET
SEW CONT ASSY.
K1
K2
730405 - 72 SEPT 66
S - IS
+ M S - EL S
P YAW
Y TRANS. + 131F - M F
Z TRANS.
+ IF - F
- INDICATES INVERTING TEPMINAL + INDICATES NON-INVERTING TERMINAL
HORIZONTAL JET SELECT LOGIC T30405 - 71 APRIL 66
THRUST CHAMBER ISOLATION VALVES „.,
vs. ffi
He THRUST CHAMBER
ASSEMBLY
BLADDER
8
r
TANK
MAIN SHUTOFF VALVES O
SYSTEM "A" TANKAGE
HELIUM PRESSURE REGULATING PACKAGE
SYSTEM "B" TANKAGE
O
AXES ORIENTATION
X
g SYSTEM "A"
11, SYSTEM "WI
- X
I RCS INSTALLATION 50312-6 JUNE 65
S a C CONTROL ASSEMBLY
LOGIC FUNCTIONS
E= (b+f ) + f B=d+e+g+a D= cf F = cg +Kclie l (g+ a At)
LGC
DECA
PYRO AND ASCENT ENG.
AEA
GU ID CONT
PGNS
956
MODE SEL. SWITCH •
(IV
NMI
AGS
MAIN PROPULSION, CONTROL ASSEMBLY LOGIC T30405-104 SEPT 66
r - LGC
TRIM FAILED
INSTR. 4 TRIM FAILED
GIMBAL OFF ON 0/
fw"1-j [ DRV
TRIM CONTROL1 'TWO CHANNELS,
I I5V 400 CPS
'328 V
1
LGC AUTO TRIM I SIGNAL TN CONDITIONER
TN
Anil TRIM !COMPARATOR' 7.
THRESHOLD TP ,/e• •
•
cj PGNS-AGS I SELECT
LGCI AUTO TRIM TP
SIGNAL CONDITIONER
TRIM FAILED
MALE LOGIC
N
TP DIFF.
TN
TP
CONTROL LOGIC AND
POWER SWITCH
EXTEND I • RETRACT , _
TRIM ,
IF EEDBACKI
DANDEMOD
FILTER ■■■11■. a■M• •••■
GDA
28 Vi L IMMM ■1110 •■•■■ =NM= ImIl■ ■■••• ••■• ••■• ma■ ■■■• ■mwm ••■■ .moir■ Imm■
THRUST 1 THRUST CMD r- — — —
CONTROL AUTO-MAN THRUST SELECT
L
INSTRUMENT PANEL
MANUAL I FILTER MANUAL THROTTLE THROTTLE
AND DEMOD
AUTO THROTTLE 28 V
DESCENT ENGINE
1 AUTO THROTTLE I
LGC INCREASE I
AUTO THROTTLE 1 DECREASE
FORWARD BACKWARD COUNTER
I -7-- RESET
•
AUTO ENGINE ON-OFF
MAN DE START-STOP DE ARM
DESCENT ENGINE
CONTROL LOGIC
ENGINE ARM
ENGINE ON CMD
DESCENT ENGINE CONTROL ASSEMBLY BLOCK DIAGRAM T30312-12 SEPT 66
--------- Namilmisi • ,.....,.................................,..
1 r, t 4,„....m.A.,..„.......,_,..„,„..... „iii,.- ------ „ - 0 A"
■ 4/ joinill)
I DESCENT ENGINE GIMBAL DRIVE ACTUATOR I
11/
130405-82 MAY 66
ATTITUDE CONTROLLER ASSEMBLY
)
I)
13° ± • PITCH PIVOT
PUSH TO TALK SWITCH NEUTRAL POSITION OF GRIP ABOUT PITCH AXIS
+ X VEHICLE DIRECTION
13° ±.1°
YAW AXIS
-PITCH
e 0
0 + Z VEHICLE DIRECTION
ROLL AXIS
1111111r
T30405-79
APML 66
ACA MANIPULATION
1 0
RATE COMMAND TO PGNS
RATE 1 COMMAND
I TO ATCA
{ 1 0 800 CPS I FROM PGNS
I 0 800 CPS
FROM ATCA
1 0
L
1 o
OUT OF DETENT
ACA PROPORTIONAL CONTROL
T30405-83 FEB 66
ATTITUDE CONT SW 1153,4,5
FROM MODE
ATCA - DC PULSE o DIRECT 0
TO LGC (PULSE)*
PULSE NEG. EXCITATION AC A
LGC COMM.*
TO ATCA (PULSE)
+28V DC 0 MODE a HARDOVER EXCITATION
DIRECT EXCITATION
TO LGC (PULSE)*
PULSE POS. EXCITATION FROM ATCA *DC
•■•••■•■••
0 0 0 0 0 0 0 0
TO RCS JETS (MODE, DIRECT B HARDOVER)
(TYPICAL DISCRETE ATTITUDE CONTROL SECTION( 130405-67 SEPT 66
)
I
(TRANSLATION CONTROLLER T30900-14 DEC 64
)
T30312 -30 JAN.66
10% THRUST POSITION
THROTTLE SOFT STOP POSIT ION
VEHICLE HORIZONTAL
REF. LINE
28 6 (REF)
X-X AXIS NEUTRAL POSITION
JET MODE
JET MODE POSITION
VEHICLE VERTICAL REF LINE
66° (REF)
I TTCA MANIPULATION
100% THRUST POSITION
IP
TTCA TRANSLATION INTERFACE 30 3 12 - 32 SEPT 66
-15 VDC
Z TRANS. CMD +15 VDC
TO ATCA X TRANS. CMD 1
D.C. RETURN
Y TRANS CMD
P.O. COMMANDER'S TTCA1
oT) —
2Kil
P.O. SYSTEMS ENGINEER'S TTCA)
POS Z CMD
NEG Z CMD
POS Y CMD
TO LGC NEG Y CMD
POS X CMD
NEG X CMD
D.C. COMM
PO COMMANDER'S TTCA
THROTTLE TRANSDUCER
C CDR MANUAL THROTTLE COMMAND
DECA MANUAL THROTTLE COMMAND RETURN
SE
ISIO MANUAL
PGS THROTTLE
PGNS {
SWITCH 28V 800 CPS LOW I :9K24
c1/4.k. 28V 800 CPS HIGH
ATCA ro
S7
A
P.O. SYSTEMS ENGINEERS TTCA
THROTTLE TRANSDUCE
C
S7
A
TTCA THROTTLE TRANSDUCER INTERFACE 130312-26 JAN 66
LGC I.024M PPS CLOCK
PSA 800CPS INST.
I.6KPPS
800CPS RGA
40_01
P. S.
ATCA AC A
TTCA
PGNS
AGS
GUID. SEL.
RATE METERS
AG S
CES 800CPS SYNCH 1 T30405-86 APRIL 66
DATA ENTRY AND DISPLAY
ASSEMBLY (DEDA)
ABORT SENSOR ASSEMBLY
(ASA)
VELOCITY INCREMENTS
ATTITUDE INCREMENTS
DATA ENTRY AND READOUT
PRIMARY NAVIGATION AND GUIDANCE SYSTEM GIMBAL ANGLES
ABORT ELECTRONICS
ASSEMBLY
(AEA)
ATTITUDE ERRORS
ATTITUDE DISPLAY
ENGINE COMMANDS
MODE DISCRETES
CLOCK --ir•
PGNS DOWNLINK —flo
ABORT GUIDANCE SECTION BLOCK DIAGRAM T30312 - 9 SEPT 66
AGS STATUS OPERATE
12517 STAND BY
OPERATOR ERROR
12DSI + 535 f321
12S1 THRU 12S16
ADDRESS
22 '1 DATA 12M2
12M1
7 9 CLEAR
4 5 6
2 3 ENTER
HOLD
■i■
0
PANEL 3/1 T30900-5 SEPT 66
1. ALIGNMENT MODE
a) SUBMODES OF THE ALIGNMENT MODE:
IMU ALIGN SUBMODE
LUNAR ALIGN SUBMODE
ORBITAL ALIGN SUBMODE
2. INERTIAL REFERENCE MODE
a) SUBMODES OF THE INERTIAL REFERENCE MODE:
FOLLOW-UP SUBMODE
ATTITUDE HOLD SUBMODE
SEMI-AUTOMATIC SUBMODE
AUTOMATIC SUBMODE
ACQUISITION SUBMODE
AGS OPERATING MODES I
T30405-105 MAY 66
•
I
o
Zi
EULER ANGLES 1 T30312-15 JUNE 65
o
ORDER COUNTER
MEMORY
ADDRESS REGISTER
INDEX
ORDER REGISTER
M REGISTER
ADDER
A REGISTER
0 REGISTER
OUT PUT BUFFERS
INPUT BUFFERS
ARITHMETIC
MEMORY CONTROL
I
INPUT OUTPUT
i SIMPLIFIED COMPUTER BLOCK DIAGRAM T30405-107 MAY 66
o
CES <
DEDA <
INSTR.
- ASA
► INST
- GSE
DISPLAY
CES AND - DISPLAY
■
CES
INST
DEDA
T30405-108 MAY 66
{
INSTR
ABORT ELECTRONICS
I AEA INTERFACE
af 0
fR
TLM STOP PULSE
SHIFT CLOCK
AUTOMATIC
ABORT
ABORT STAGE
ASC. ENG. ON
FOLLOW UP
DES. ENG. ON
READOUT
HOLD
CLEAR
SHIFT CLOCK
DATA
ENTER
1.024 MC CLOCK
128K PPS CLOCK
SERIAL DATA
SERIAL DATA
ALTITUDE
ALTITUDE RATE
TOTAL ATTITUDE
LATERAL VELOCITY
ATTITUDE ERROR
ENGINE OFF
ENGINE ON
TEST MODE FAIL
128K PPS CLOCK
SHIFT IN
SHIFT OUT
DATA
STOP PULSE
PGNS
40 SYNC PULSE DOWNLINK
51.2 KC DATA
GSE INPUTS
CDU ZERO p
IMU
PGNS ATTITUDE
IMU 0
ASA AcCELER0-,
METER AND GYRO
DATA
IMU e
av X
GV Y
AVZ
a f P
FROM I28-KPPS AEA
T30405-109 MAY 66
ASA BLOCK DIAGRAM
i X-AXIS GYRO LOOP
GYRO OUTPUT PULSE SIGNAL TORQUE
SERVO AMPLIFIER
FREQUENCY DIVIDER
GYRO
Afp
400 AND
8000 CPS TIMING
REF.
V
od +28V DC POWER SUPPLY
SUBASSEMBLY
TORQUE FDBK PULSES
• -•-1 Y-AXIS GYRO LOOP (SAME AS X-AXIS LOOP)
40-01 Z-AXIS GYRO LOOP (SAME AS X-AXIS LOOP)
afq
Air
X- AXIS ACCEL
ACCEL OUTPUT SIGNAL
PULSE TORQUE SERVO
AMPLIFIER
AVBX
TORQUE FDBK PULSES
• -•.1 Y-AXIS ACCEL (SAME AS X-AXIS ACCEL)
H Z-AXIS ACCEL (SAME AS X-AXIS ACCEL)
AV BY
AV BZ
ACCEL TEMPERATURE
CONTROL
VELOCITY INCREMENTS
TO AEA
ANGULAR INCREMENTS
TO AEA
IP
FROM AEA
TO AEA
DATA DISPLAY
ADDRESS DISPLAY
SIGN DISR
INDICATOR
OPERATOR ERROR
PLACE SELECTION
BLANKING AND ERROR
DETECTION LOGIC
ENTER 4 PUSH BUTTONS READ OUT,
ENTER, CLEAR AND HOLD
CLEAR
12 PUSH BUTTONS 0-9,+,-
DATA STORAGE DATA IN DATA OUT
SHIFT IN
SHIFT OUT
CLOCK 128 KPPS
SHIFT PULSES
DATA TRANSFER CONTROL
LOGI C
DATA
SHIFT CLOCK 64 KPPS
READ OUT
E HOLD
•••
DEDA BLOCK DIAGRAM 730405-110 MAY 66