Apollo Training Guidance and Control 09151967

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A P O L LO T R A IN IN O

GUIDANCE AND CONTROL

SYST EMS - BL O CK II

s /c lO_

15SEPTEMBER 1 9 67 FOR TRAINING PURPOSES ONLY

OOI6"l'le2_



APOLLOR AINING

GUIDANCE AND CON TRO L

SYS TEMS- BLOC K II

s /c _o_

15 SEP TEMBER1967 FO R T RA IN IN G P UR PO SES O N L Y

OG,S_ '_¢Q



QUES TIONS R ELATIVETO THE CON TENTS O F THIS

DOCUMENT SH OULD BE DIRECTEDT O:

D.P. B ENNETTA.R. PAYNEW.O. RU FFINA.H. SOHLER

NAA, SDDOWNEY, CALl FORNIAExten s ion 4325 ,6, or 7



TABLE OF CONTENTS

Se ction Pag e

I I NTRODUCTION .......... 1

II COMPUTER AND COUPUNG DATA UNITS ...... 9

HI OPTICAL AND INERTIA L S UBSYSTEMS . . . Z9

IV ATTITUDE CONTRO L SUBSYSTEMS . . 48

V ATTITUDE REFERENCE S UBSYSTEMS .... 70

VI NAVIGATION . 87

VII THRUST VECTOR CONTROL SUBSYSTEMS AND SIVB TAKEOVER 94

VIII ENTRY CONTRO L AND DISPLAY (EMS) . . . 1I0

IX POWER DISTRIBUTION, ABBREVIATIONS AND ACRONYMS . . . IZ6

i i



CSMGUIDANC, :. & CONTROLVEHICLEDYNAMICS

I'-......... "3

ROTA TION TRANSLATION [[

AND _ i PGNCS SCS SPS iiTRANS-

LATION SERV0

_ A_PASSY

L REACTIONA ENGINEY ON-OFF

I s _! CONTROL i

r ASSY

R C SSC S

_,rRONA UT BREAKou TRTATONCONTswI TCHESl T [- D IR ECT R CS R O TATIO NI_. ....... _,1

V EH ICL E D YN A MI CS

scs-_ oo_1



PROPULSION TORQUE ANDFORCE INPUTS TO THE S /C

CW +P +PITCH+Y

+X -P -Z 12 ROTAT IONv_,TRANSLATION+y/ RCSMOTOR( 4 SETS )

TRANSLATION 3 A 1631

+X+ 13 2 , ,ROTATION _- PITCH

MBALING- Y / 6_2 DEF LECTIN

-y

x

cT_ +YAW 11+Z ROT ATION

14C+Z TRANSLATION GIMBALING

DEFLECTON

s c s - o o , A

2



PGNCS DA TA FLOWSTEERING SIGNALS (S-IVB)

SWITCHIN G !1TTITUDEERROR& ATTITUDE _I SCSDLSP LAYS& I..,CONFIG URAT ION (:v m , , ,_,,u_,- mM l m .. ,- , . BI

m CONTROLS i , i GUIDANCEmB_AG II ' I .I YSTEM Ip . IU I

ALI GNMENTAND 'NuTs l l SEQUENCEC ONTROLILZV' im_ CONTROLCOMMANDS I I I M,a ,N STEERI NG

NERTIAL I STATU SOFINERTIALSUBSYSI I I I DISPLAY SIGNALSSUB SYSTEMI ACCELERATION IIII I I CONTRO L I

co u . ,Am.Oo PAN .CONF- -\ RUST

\y"_ I ICMDS_, T ___ I{A_ TP n- _ I COMPUTER IATTITUDE'ISCS _ i_'_I_AUT'_ .... "1 _ SUBSYST EM ICMDS .J INTERFACE I /

ANGLESND ++ + ---_ h I I /• , MARKOMMAND/ ÷÷++I STATUSOF OPTICALSUBSYS / , ,SPS ,RCS & SIVB

OPTICA L MINIMUMMPULSEONTROL I PROPU LS'O NUBSYSTE M

(OPT ICS& I_ CONTROL PO S ITIONCOMMANDS I SYS TEMS ICDU'S ) I SIC STE ERING IGNALS SP S ) I

IfT_o

GNC- 5D ( 4,' )



PGNCS EQUIPM ENTOPTICS ASSEMBLY

PIPAELECTRONICS SIGNALONDITIONER IMU

ASSEMBLY _INDICATORCONTROLANEL _'q_ l I

POWER NELSKYASSEM BLY

• )

COUPLINGDATAUNIT _"COMMANDMODULECOMPUTER _" "_'"

4



GUIDANCE NAVIGATION , s ,,_o, o,,,, ,AND COI_TROLSYSTEM

STOWA(_ r OPTICSASSEMBLY

_ __ SIGNAL CONDITIONERASSEMBLY

SPACE _11 _ SCANNINGELESC OP ESEXTANT

INERTIALMEASUR EMENT

CON TROL UNITPAN ELSI

)WERj SERVO

ASS EMBLYCOUPLINGDATA -4-

AND NAVIGATIONMODULE BASE

' SIDEVIEW

5



SC S FLIG HT H ARDWAREBLO CK II

.ATT PANEL _._ O.R

ELECTRONIC DI SP LAY ASS EMBLY GYRO DI SPLAY COU P LER SCS -eO'LO C _ ,_)

(EDA) (GDC) 6



ZC<

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G &C AND APOLLO SUB SY STEM SINTERFACE

E L E C TA LO WRSUBSYSTEM

_"_"q_ PRO PU LSION

SUBSYST EMS

ONMENTAL (RCS& SPS)SUBSYSTE M GUIDANCEAND

C O N T R O LSUBSYSTE MS

r

SEQUENTALE VENTSS UBS YSTEMCON TROL _ MAIN DISPLAY__

ANDCONTROLP ANEL COMMUN ICATIONSSUBSYSTEM



M AIN DISPLAY C ONSOLEG&C SWIT CH IN G L O CA T O R

1 3

9 ,6



CSS BASIC FLOW

1 0



CSS BASIC FL OW DIAGRAMm

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° i:7:1; 71::_L-

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DISPLAY AND K EYBOARD ( DSKY )i

[ IPLINKACTY TEMP COMP ' _

ACTY

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TL S TART I N50 P PS OR ilI 0 PPS I

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TLEND ' N _ 'I r I I l0 PPS OR I , I ''10PPS I I i I I I

I I i I I II I I I I II I I

I I ' II I

TELE MET RY _ iERIAL PU LSE _ /_//_ __ [_- /_. _ / , .

'""'" I -- NE F RAME20 MS PER FRA ME' -- --"- _CO MPUTER

AT 51.2KC B I T RATE TELEMETRY SYSTE M WORDS

OTHER G&N AND SP ACECRAFT DA TAI !

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_1 II I _ 1FRAME12 8TELEMETRYORDS

CHAN 13 BIT 7 L-.'_ .- ......................... m m _ -- ---J

WORDORD ER BIT

L_ 16 B IT CMC WORD _,_ 16 BIT CMC WORD , MSB (7 B ITS._ iI _ CHAN 34 C HAN !)5 - - CHAN 34I- I IT O

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W O R D O R D ERNUMBER BIT I 16 Z Z I I 16 11 C HAN 3 4

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_:sJ COMMAND MODUL ECOMPU TERs FUNCTIONAL INTERFACESt

SCS [ I i[ [

COUPLER SUBSYS _.M

I MASTERLOCKYNCH (TIMINGAN DNERTIAL -I _LEJdE'IRY)

INERTIAL A/D SPSGIMBAL SCSMEASUREM ENT THREEHANNELSOP TICALOU'S COMMANDS SERVOAMPLIFIER, SERVI( _E

UNIT ACCELEROA4EERNPUTS t : D IA :_ _ THRUSTECTOR PROP ULSION

TOSXTDRIVECOMMANDS)

CDU CDUMOOINGD ISCREET$ REACT IONET . p REAC TIONONTROLMOOING ENGINE SUBSYSTEM

RCSON-OFFOMMANDS ON-OFFONTROL I]6ENGINES)

(16LINES) " I ASSEMBLY COMMANDMODULE

]J tl ]

REAC TIONOPTICALCDU'S SEXTANTNGLES .l,. CONTROLUBSYS1T.M

SEXTANT | ."| NO I, SIVB SEPARATE /ABORTSM/CMSEPARATEROMSECS I] 2 ENGINES)(TWOCHANNELS) COMMANOMODULE SPACECRAFTONTROLWITCHCMCP OSITION)

COMP UTER CMCMODEWITCH AUTOHOLO FREE)

t AV COSWITCHLMATTAC HED) CONT ROL

MARK& MARK&MARKREJECTiSCREETS AV THRUSTWITCHESA ORB (NORMALOSITION) PANELMARKREJECT I, SWI TCHING

BUTTONS UP11. JdBLOCKOSITION)

" ' iMUCAC, _ WITCHUPPOSITION)

l GUIDANCEWITCHCiC POSITION)

MINIMUMMP ULSE PITCH,YAW&ROLl.COMMANDISCREE TS IS IVBTAKEOVER |CONTROL _ IMUCOARSELIGN

' - 1''- ' ' I

OP TICSSTATJON) (CMCMIN IMUMMPULSE6INPUTS) Il ELEC TRONIC FOAlC D U ' S

"1 o /A l -"l DlsPu_',' i :! ALTITUDERRORCS I (THREEHANNELS) ASSEMBLY NEEDLES

ROTATION PI TCH.YAW&R OLLCOMMANDISCREETSCONTROL (CMCANUAL ONTROL 6INPUTS) P

(IWO) STEERI NGOM_ND J

(BACKUP) 1 1I LIFTOFF ULLAGE SIVB

I N S T R U M E N TSCS + _, :e _,±_[ COMMANDISCREETS INJECTIONTARTNOSiVBCUTOFF UNITTRANSLATION _,

CONTROL (CMCMANUALONTROL 6 INPUTS) I (BACKUP) - I ,

,1 l I

I DISPLAYEYBOA RD(IwO) PGNCSCA UTION NOWA RNINGUTPUTS "l '[ CAUTION,WARNINGoNC.)M('._)l'_l

1 8

CSM GUID ANCE COMPUTER MISSIO N P ROGRA_S



i . Pre l at_c h & Servic e 8. AbortPOO CMC Id li n g P7_ LM Tra n sfer Phase Init i ation (T PI )POI Prelaunch Initializatio n P75 LM Transfer Phase I n itiation MidcourseP0 2 Gyro C o mpassi n gPO3 Optical Verification of Azimuth 9. Astronaut Service Ro u ti n es

RO0 Final A u tomatic Request Ter minati o nP05 GNCS Startu ' p R 02 IMU Status Chec k

PO6 GNCS Power down R03 DAP Data Load -- -- V h SEP27 C MC Update R21 Rendezvous Tracking Data Processing _ VST E

2. Bo o st R22 Ren d ez v ous Tr a cking Sighti n g Mar kPII Earth Orbit Insertion Monitor R30 Orbit Para meter Display -- - V82E

R31 Rendezvous Para meter Display --- V 8 3E

3. Coast R32 Target Delta V • VS h ER 3h R endezvous Parameter Display -_ V@5E

P20 Rendezvousavigation R50 CoarseAlig n

P21 Gro u n d Track Determi n ation RSI Fine AlignmentP22 Orbital Navigation R52 Automatic Optics Positioni n gP23 Cislu n ar Midcourse Navigation R53 Sighting Mark

h . Prethrust R5 h Star Data TestP30 External Delta V R55 Gyro Torqui n gP3 h Transfer Phase I n itiation (TPI) R56 Alternate LOS Sighting MarkP35 Transfer Ph a se I n itiation ( Midcourse) R60 Attitu d e Maneuver

R61 Preferred Trac k ing Attitude

5 . Th rust R62 Crew Defined Ma n euver _- VAg EP&O SPS R63 Ren d ezvous Fi n al Attitude -- V89EPAl RCSPh 7 Th rust Monitor

6. Alig n me n tPSI IMU Orientation Determinatio n

P5 2 IMU Re a lignP53 Backup IMU O rientation DeterminationPS h Backup IMU Reallgn

7 . E n tryP61 E n try Maneuver to CM / SM Separatio n AttitudeP62 CM / SM Se p arat ion & Pro entry maneuverP63 Entry - I n itializa t ionP6 h Po st .05 G

P67 Entry Final Phase

GNC-192A

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CDU FUNCTIONAL INTERFACESCDU

_ INERTIA L

CHANNELI MEASUREMENTUNIT

A # PULSES

I CHANNEL02 _ FLIGHT DIREC TOR

AT T IT U DE I NDI C ATO R

C HANN EL #3

CMC

SATURN STEERING

CHANNEL4 I

I < _ OPTICSc

T

MODE CONTROL CHANNEL # 5 I

TIMINGPULSES " _T

DRIVEPULSES +4 V POWERSUPPLY

EERING

O.S.S. c d IA o IMU OPERA TE28VDC ,'l _ 28VDC

GNC-1 9 3 )

1 8



C DUSIN GL E CH A N N EL SIMP LIFIED

CDU C MC(S IN G L E C H A N N EL )

ANALOG D/ACONVERTERDRIVE (CO MNIANDNG SECTION)S I G N A L

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GNC-1 9 4{ ¢"o)

1 9



C DUSINGLE CHANNEL

RESOLVER CDU

SI Ne COSqJ- COSOSI Nq_ I N (O-VJ)MECH A N I Z AT IO N

'/q' CMCi 16ST AGECOUNTER [-

I COUNTE RINPUT

ANALOGTOb l GITALCONVERTER S ECT ION

9 S TA GE C OUN TER

AC PROGRA M

DRIVESIGNALS•_ 800CPS LADDERNETWORK CONTROL

oc IDRIVES IGNALS• _ DE MODULATOR OUTPUTSECTION

D IGITA L T O A N A LO G CO N V ERT ER



IC DU FUNC TIONAL B LOC K DIAG RAM--51 .2 KCFROMCOMP.r,Mu l

_ ....J . SIN Og ._ ZERO IMU CDU_ PULS EI&16SPEED

GENERATOR(12- 5 )N H I B I T

COSg -_ RESOLVERSWITCHI NG d RATE

LOG CAND SELECTOR

I 8g =, COAR SE-FINE : 12 .8, .8 , or 6.4 KCS IN 16 ERROR

MIXING DETEC TORUP -DOWN

COS ]6 8g =, ; LOGIC#2

L ._J 1_¢ +Ig

R RE ADCOUNTER UE p :S 1 8 0° 9 0° 45° 22 . 5 11.25 5. 6° 2.8° 1.4° . l ° .3 5° . 1 7° .08° .0 44 !. 0 22 40" 20" --

D5 14 13 12 II I0 9 8 1 6 5 4 3 2 I O N =

f ZEROMUCDU _ "----_TOCMC(12-5) (12-4) + A l_PULSES ( 4 0SEC I PULSE)

U "I

2. 8° 1 . 4° 7° 044° _ } + DRIVEPULSESn FROMCMC1 60_-E_ /PULSE

J

IMU ERRORCN TRENABLE(12-6) S IVB TAKEOVER

[ LADDER800ET Wo RKCPSDEMOD I ENABLE (12- 9 )'_ [ _ _ SIV B I NTERFACE

[ • FDAIATTITUDER RORS IG.• IMU GIMBALMOTORDRIVES IG.COARSEA L IN E E N A BL E( 12-4)

o . ,_..c,,%

GNC-IQ6 (r _,:) 21



OC DU FUNC TIONAL B LOC K DIAG RAM_--51. 2 KC FROMCOMP.

ZEROO PT ICSCDU'S J PU LSE J(12- 1) INHIBIT -J G ENERATOR

1 2 8 K c _ _ c P s

-- _EXTANT - I RAT ERESOLVER SELECTOR

,__ E RRORSIN 0 i, SWITCHING D

Kr. }uLvr ._ _ I COS 0 L LOGIC DETEC TOR d UP -DOWN16X SH AF T _6 4 X TRUNNI ON _ j I LO GI C#2

--- +R READ COUNTER U

' ° il1 8 0° 9 0° 4 5 o 22.5 °11 .2 5 5. 6° 2. 8° 1.4° .35 ° 1 7° . 0 8° .044 . 0 22 40" 20" P

• " O _

1 5 14 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 I O N

OPTICSERROR COUNTERENABLE (12-2) ±,', OP ULSES _ TO CMCZERO OPT I CSCDU'S ( 12-I) TVC ENABLE (12- 8 ) 40_S'E'C l PULSESHAFT)

1 0_ I PULSE (TRUNN I ON)

E ERRORCOUNTER U / ± DRIVEPULS ESFROMCMC11.25o5.6o 2.8° 1.4° .7o .35o 17° .08o .044 P. ] 60 S"_ / PULS E( SHAFT)

• D J 40 " _ ' C/ PULSETRUNN I ON)[8 7 6 54 3 2 1 ON 85 _"EC/PUL SESPS GIMB ALS)

tOPTICSERROR COUNTER I L .TVCENABLEENABLE12- 2) (12-8)800C P SL ADDER AC TO DC SPSGIMBALDRIVESI G.

NETWORK CONVTR

D, OPTICSDRI VESIGNALDIS ENGAGEOP TICS DAC (1 2 - 11 )' _"_'_.

_ . c - i _ ( + )

2 2



C DU C OARSE M O DULE B LOC K DIAG RAM



C DU C OARSE M O DULE B LOC K DIAG RAMIMu J

I "1 ",.. CAGE

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s3_ :' !AM rt,/ . ERRORp c3 -2_21413 2_2_ z_

Iq 3 , SIG NAL 2.[-S .i-4..213 2 152142 T,_.

I + co s7._. :_31 pc4 - +, DC6 - 2] ''_ [21 '-4"2132142 ])"]

I cos _ _s_ _ oct . 21_12142132_2_(.3831

I - _ De 821512_213214_1I +SIN67 .5 924) OC9 - 2" I)"vV_.--,

j $8 N V_ DC10- 211,/c +SI (. 38 .? , ) DC II " 210

28V -S IN 11.25 ( .199) DC 12 " 29

J 800 ,' ,.., *_VV---,-SIN 5.62 (. 078)

I I_, '_ -.,vv- * 2N.,.,,REFER SOITNTHEi -SIN 2.8 (.049 ) READCOU NTER=,_VN.

j S 12 *OC "X" CLOSESSWITCH X"

24

67 5



e=67.5

21 5 21421 3 212211210 29 20READCOUNTER.

22.5° 1 --67 .5°4 p ° J

DRIVECONTROLIGNALS_ DC 4 &6

FROM|

'.M.U. (_, . .. = (_;-S-LN -67 . ; ,5 ; - _ AMP

RES J2sv _ I sv [cose ]:l.91vI I" COS 67 .5 = .383(+)

G.c-.s C )25



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READCOUN'[ER . !01 Of 0 I0 I 01 0[0 l. , _.Jl-'_ llJ

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RES EO --.83EIN5V [COS #]= 3.2 8 V +3.08V ERROR

(+) All"E'IWORK AMPS IN 11.2 5° -.99 5 V

EO : .1 9 9 E IN

AT T N ET WO R K

(-) SIN 5.62°

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(+) ATT NE TWORKS I N 2. 8°

EO =.049ElN -.2V ._",GNC-1 5 0A{_)2 7

DIG ITAL TO ANALOG C ONVERTER



DIG ITAL TO ANALOG C ONVERTERM O DULE B LOC K DIAG RAM

TYPICAL ICDU CH ANNEL

+ PDA --_ • POLARITY

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2 9

OPTIC AL SC H EM ATIC



OPTIC AL SC H EM ATICSEXTANT SCANNING TELESCOPE

LINE OFIsIGHTI LINEOF SI'GHT2 I LINE O_ SIGHT

TRUNNIONu__ ,_ !__DRIVE_ _,. ",_l,_l,_,u l'_ x-TRUNNIONDRIVE I ""

I _.r' , DRIVE" 7"

- II --IFIELD1.1_ -EACH FIELD " _ '--_60 DEGMAGNIFICATION28)( MAGNIFICATION 1X

GN-176A I_

OP TICAL SUBSYS TEM



Z_As OSS CDU

Z_A T

AT AS

SXT SCT

CMC TRUNNI ON )NCONTROLLO0P CONTROLLO0P

INDICATOR SHAFT SHAFTCONTROL CONTROL OOP CONTROL OOPP A N E L



INDIC ATOR C ONTROL PANEL

I

f CONTRO LLER *t _MOOE JSPEED COUPLING/ VI _R LIST " NQUN LIST CONDITION

CMC HI DIRECT (. %1 /.,_ '( i( 1 , 7/ tt)(. l(ll'rl I(. IrAP.¢ L(

"-"MANUAL MID ctrl qt_i,i ILc . lIDILCSrLt_n _ ,¢lr.)u' l ON

ZERO LO RESOLV Jc kc llC;'' _LC. J CZtR c)a _eA PI6LLSt? m_rt 0 rLC _.,LF4 r'OU _1 A. I JR L( rt.(.) TEST

STAR TELESCOPE I _

ACCQUIR_) TRACKER TRUNNION

TRACK TOSXT

OPTIC _ ACCEPT

OFFSET..._/OFF _/ 25" BLOCK

oo o oMAJORMODES 0

_polr7

RETICLE _ l ict or. %L,LI<-_X *_,_ OewBRIGHTNESS _v r L u c. L.,% _._,/r_ %% v o ,I I_1

k_.l I(,K/'t' _, 1_1 4_A1 TI_ I_ 0 Nle111. C iT

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GNC-26A._3 2



G&N LOW EREQUIPMENTBAYBL O CK II



OPTICSMOD ESr"..... %.-1I I

'OPT ICS ERROR READI.._CON mOLLE U_- 1 COUNTER COUNTER J

.OD e js _m D COU _-LNG J J/,'_ '_c_c_-'_., f'_ '_D ._CT _VZER O LO RESOLVE[ D IA NO

STAR T ELESCO PE J cONVERTER CONVER TER J

AC_IRED TRACKER TRUNNIONTRACK SXT

OPTICS ACQU " 0 oOOO_R OFFS ET

F 25 S E X T A N T0 s' c_ ----

I

ATLOS

S J TRUNDR IVE RJ sEWL J 28V00CPS 1_ .

C T _._ AS J .,-._ .._ p ..

I LOS I IFTJ' _ _ ASO S HAFTDRIVE S LOS

J L-- . J r - -- --.C MC N 'As

2 8 V80 0_ /

- "-I- I D,A ND II CONVER'_R II I

ERROR READ JOUNTER COUNTER

II c0°

3 4



OPTICS M ECHANIZATION

I 'lce 314ov

co 3Igor

_": ° [r......k,--A¢TP UV _ AAI

_U,./, •- " "d'_ ° _.,,. , _,_ ,., ,,..,.,_ ,,_,,,_. CG3O I IV" TRUNNIONCDU FINE RROR

"'_ ""_ CG3 II 0V" SCT TRUNNIONTACHO METEROUTPU Tel TIIVCG_ 0 21 V- S HAFT CDU FI N ERROR

CG,160 V - , CT S HAFT TACHOMETER OUTPUT







B LOC K II STAB ILIZATION LOOPS



TORQUEMOTOR

DEMODREFTORQ UE 3200 CPS

r- .... -.--0 I

iiYIRIGSSEMBLY-'11 MOTOR Ii I J 800PSIII I I SERVO

II I II I >'°lOARSEL- -- -- -- - ..I

ALIGN I

.... -I I I INPUT

_Z IRIG AS SEMBLY J j j I IG211 /V II

I I Ii i _L ..J RESO LVER I COARS E... ALlGN

I I I INPUT I.... --i I I cG214 7v II X IRIGSSE MBLY I I I -

' 111iMBAL )--'4) II I AXIS MI DLE / COARS E I,,

.... AXIS I

IMU _____ v ICG211 77 . ,CG2117V I GA S ERVOER RORIN PHASE /

CG21 47V MGAS ERVOERR ORN PHASE PSACG21 77V OGASERVOERRORN PHASE

I _ GNC __,c(,,_)UTERGIMBALAXIS3 9

FINE ALIGN ELEC TRONIC S



J PULSE TORQUE

POWER SUPPLY 1

SYSTEM 28VDg I I2OVOC

CGC / !

LGC COMMAND+Aex us-AeX _; GYRO PUE X IRIS

+.AeZ _ I-TORQUE-A.Z , -TORQUE YIRIG

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RC S LATC HING RELAY LOG ICADAPTER

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VDC "l DELAY

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MANUALABORT DELAY 28 VDC TO

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AUTO ABORT J' " _" RCS CMD ,, " ' J ET, DR-IVER S1" 'F ON ARM I

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MIN IMP _CCELMDP TCHRAT EMD _ _ _

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RATE 2ITCH ATr] /RATE2< RATE=Em RATE2

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SC CONT S CS _ _ _ / _TRANS CW _/ _/ _/ _/

C ONTROL N EUTRALUP _ (3) (3) (3) (3) (3) (3)

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ROT CONTROL B.O. SW CLOSE(2 ) CL OSE(2) C LOSE OPEN OPENDI RECTS W CLOSE

LIMIT (1) UP _/CYCLE OFF _

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ENTRY OFF(1) NO TRE QUIREDO ENABLE PARTICULARUNCTION .

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GENERALOMM ENTS :

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PN'IB-I

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SC S C ONTROL PANEL SW ITC HING TM



DEADBANDW CEA

I'_IcH3 588X -ATTITUDE DEAD- BMAGMODE C13-1A106

o MAX 1L BANDMINIMUM SWITCHES SIGNAL28 VDC _ _ - - TO SWITCHINGCONTROL CONDITIONERMINIMUM ROLL

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28 VDC _ -_ _ TOSWITCHINGCONTROL o RATE1 Io CSM PITCH I-_-']CH35 90X-SCS HIGHROT- o RATE2 _ CH3 638X

RATESW _ RATESELECTED 28 VDC_ ATTI /RATE2 .=. CH3 639X

HI GH I28VDC _ - _; TO SWITCHINGCONTROL o R ATEio LOW

- -_ YAW RATE2o _ CH3 0 41X

FDAI DEA 28 VDCo ATTI /RATE ;!SCALESELECT -- : I CH3042XSW ERRRATE I-_'lcH3592X - FDAI SCALE o RATEI

L._ ERROR 5 RA TE5

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• _-= TO SWI TCHINGCONTROL CH363 9X- BMAGMODESW- PI TCHRATE2

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RATE 50 /10 SCS - 2600A_._)

7 2

G & C ATTITUDE REFERENCEINERTIAL _

COUu :L,NOMEASUREMENT / COMPUT ER DISPLAY



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GDCFF NON-EULERALIGN GDC ATTSET Al'I"ET IMUP I TCH a

GD C Io EULER IM Uo I RC .

0._o_....,o_ _I,_ _ IEMS I _ : AL I GNI EULER ___ J

,o0 v To ,o,EAL, . _N i I _ - _ ALI GN--T-_,-- J _ _

Y A WB U R GDC

! _'- - ._,_,J - " " ' _ c d A I -_ERROR

ALIG N - J ' I I NEEDLESF F

cMc _ _ .......0.05G ._

OFF ALlGN

• o

O.05G v

CMC

I

G D C

OFF ALIGN & I- ....

ALIGN SCS-2 "313B_) 74



FLIGHT DIRECTOR ATTITUDE INDIC ATORR O L L

+ A N G UL A R V EL O CI TY-+AI-rlTUDEERROR-



PITCH & YAW INDEX

p

I

ATTITUDET ANGULARERROR C VELOCTY+ H +

EULERATI'ITUDEON BALLPITCH- e = 014°YAW _ = 034°ROLL ,/, = 330°

ROLL TOTA LNOTE : ATTITUDESCA LE

ALL POLARITIESINDICATE

VEHIC LEDYNAMICS YA W+ATTITUDEER ROR-

+ANGULAR VELOCITY-SCS-2100 D_) 76

FDAI RAT E SELECTLOGICFDAI FDAI

SCALE SE LECT FDAI 1BM A G M O DE

PITC H _lRATE2 I

° I ±I_-/SEC 1 I PITCHATI 1 RATE2I : :t:5° SEC RATE



RATE11 : t:lO°SEC 2 °_AGODE NC_T"I FDA,B MA G M O D ERATE2 o YAW ROLL ENTRY I

RATEi o IATTI RAI'E+2 1 .05 go

o _,__oI I _°--: I I I ' _ _ °'sEc "-'- I YAWRAT E

_ I_ °=1 _o°,_c IoU I o1- I "

I I I FOAl2I '-- Ic_I

° I I

° I I _OA,,C_ 3 =_ -- :, o I

° ° I ROLLJ : I:I°S EC RATE

i c_ J - :IS °S EC •

. _ 5 0° I SECo

FDAI 2

SCS-- 2204 _l ( +.i_ 77

FDAI ATTITUDE SELEC T LOG ICF DA I

Bi T



Bi TMU:' CMC: t

GDC°l : ATTSET-- : FDAI 2ENTRY". 05(; ' GDC

I IMU

2

_GDC - OFFI rDAI

' SCALEDAI--'--" Io

°°cLIGN I 1/

-I : 2_l_JMU

o iGoc _ 1

'_ IMU :-- :i I

ATTET II

FDA

"......... ATI'I_OE SET 1" I _]._e !

_ UNCAGED- ENTRYCAGED OFF-e "O_j 1/2

7 !

FDAI/GDC SHAF T RELATIONSHIPEULER._,f,'_ _

CPS ERROR



CPS ERROR

VG +¢'eOG A

TOTAL RESOLVER MOTOR

XB ATTITUDE R O L L

INDEX IGAB -'& MOTORZB " _ EULER ""

"MGA" + YAW .. ERRORRESOLVER IND EX

0 .. MGA" RESOLVER

"OGA" / / & MOTOR

J_ s_

I EULER, ERROR

ATTITUDE""R E F E R E N C E

SYSI£MSTRAP DOWN

PLATFORM "IGA" DISPL AYEDTTITUDERESOLVER #e"0°

,e .O °#e.O _

7 9

G YRO DISPLAY C OUPLER

0 ° EULER"5cJ



0_• EULER".5cJGDCALIGN GDCALIGN GDCALIGN

K84 K87 K83 J E

_ TEULER ALIGNK8 9

ENTRYE MSROLLON"

I

O_I

'/'¢ ALIGN

0 EK 8 7Kgl;

FDAI SIG NAL FLOWATTSETSW AI"rlTUDETOGDC "1 ERROR

,o. o=, _ -I,-.q )



-IololoMFDAI NO. 1FD A I N O . 2 i _,._ !

,I ,TOALIGN

o lo loH '_'°_,ATT SET S W

ENTRY DISPLAY SIOi

®LV ( UP )



I o ,O i ®

0 LV , ,OR .)DI__

;LV (DOWN) STABA XIS

(FLIGHTPAT H)ORTH

QIoo lo _l ee A

SCS -22 0 7 B_£'_!_

g 2

ARS SWI TCHINGARS T OTAL ERRORDISP DISP

CONFIGURATI ONS A'ITITUDEDISPSOURCES S OURCES4) SOURCES



SOURCES S OURCES4) SOURCES

RATE 2

PITCH A TI"1/ _B RATE2M RATEi I. ,

A RATE2 I 'I

G YAW All ]J V L.fRATE2

M RATEI I ,, I

_O RATE2 1 . 11

A'n"U

IE ROLL RATE2RATE! 1 11

(]5G I-_ I,'/(2)

iE .(]5GIN OFF I / _ 1.1" I,,'/ _ _ )!T EMS

EMS ROLL L""I (2)Rl ROLLiY OFF

(l)1/2 _ / "_-I " v" " , I"FDAI 2 !_,,,__ _ ¢/ k_ 1.11 I,,/

SELEC T i: L

CMC _

RAT EAND ATTITUDEERRORT ELEMETRYPICKOFFCR1FDAI1 (TYPICAL)

IF-- I -; o -E o "lFEEDBACK I



IF-- I_-;_o_ -E_o_, l,FEEDBACK I

-15 POT I

I __ I CIRCUI TRYIN EDA

Ii +15l : I

:_ j oR,_ _

...... ELECTRONICSFDAISELECT

FDAI SWITCHTO SIGCONDPOSITION-2

TI FEE DBACK I TM ID S I C PARAMETER

P O T,,!AII _ CH3501VATTITUDE ERRORYAW

C H3502V AT TIT UDE ER RO R R OL L

II CH3503R csBODYRATEITCH

15 CH3504 RSCS BODY RA TE YAW

I TORQUER FEE CK CH3505RSCS BODY RATE ROLLLINKAGE I TO TORQUER

L ...... .I DRIVEELECTRONICS

SCS-2212A_ , _,_

a 4



ORD EAL PANEL



I 1 FD AI 2 i EART H

ILl l.._I INRTL _.,J J ) L,,.J 100 . 200

MODE SLEW _25 0LIGHTING'_ BR T O PR /SLOWjT1 UP 5 0

DIM HOLD/FAST_U q DOWN

v,_ °_ _t

SCS-4000A{'_)

8 6

ORD EAL INTERFAC E



Moc] IP,TcHIOODAI _ DEA _ FDA! " 1 & 2SWITCHING O NLY S WITCHING

1 1 7

ORDEAL FUNC TIONAL B LOC K DIAG RAM1 5 0

too ALTSET



too ALTSET

BASICTIMING ALTITUDE400PPS -'- VARIATION

1

I LOGICFOR

MAINTIMER .._ EART H&LUNAR]1BITCOUNTER FIXEDORBITALRA E

LOGICOR %

I _/ STEPPER

EARTHo _B,TLUNAR -: MOTORRIVESLEWRA TES / / "_,,.,. _,...... _

FO ,1 .eELECTON _-_. /S W I T C H I N G

I- /SCS4002

•_ .b88

ORDEAL SIG NAL FLOW DIAG RAMALT SET

I S D

EARTHRATE " T

SW P0S _ .'® =



EARTHRATE _"r _T ,o _==

_ _ FINE

_,_ 20 (8 BIT COUN _R) COUNT

............. 27

ENABLELUNAR RATE

"11 " STAGECOUNTER LUNARRATE F | _SWITCHPOS

ZXLEARTHRATE ORBITALSWPOS RATE

2XE z,, FDAI1

DEAOUTPUT

in I I I I I I m i I _ t

LUNAR EARTH DEA

SLEW RATES

/ 2XF _,,_. FOAl ,2

]6 9

LONG ITUDE-LATITUDE DETERM INATION

Z I



GREENW CH

MERIDIAN,,

II

I LAT & LONGIIIIIIj .C SM AT TI

CS M AT TO

AZ-- AZO+ (o (t + t e phem)

GNC'I / O{ C_)) S O

EARTH ORBIT NAVIGATION



30° 46° X

LOCALVERTI

_--TANGENT J30°01NTY

EARTH ORBI T GEOMETRY FIGURE I VIEW ON SURFAC E FIGURE 3

I _ > _ DIRECTIONOFMOTION

/ _-,x_6°/_-3e- --/__ \ _LANDNIARKECOGNmONNLIT

/ LOCAL'-""" SHAFT/ _

_.--_,. ,Ec_ • _.__EC---_.EC_MARK AREA-4 ) SEC " i165Nil

COVERAGE ON SURFACE FIGURE 2

91



SIM PLIFIED ORBITAL NAVIGATIONFUNC TIONAL DIAG RAM

C SM O R BI T EST IMAT IO N

1 16Z



x 1 ,_ - 16re_c_ Z +... -

[ ORBITAL !

I N T E G R AT I O N

R O U T I N E

LANDMARK MEAS UREME NTb

POSITION, r, _ GEO METR YvEcTOR i "_ COVPE_O RIN

LANDMARKMEASUREMENT

7,oL- o l L6r_J "_ CHECKANDROCEE D

TRACKI BGMEASUREME NT

I INCORPORATIONOUTI NE JCTLA NDMARK "'" _ _ ""

MIDCOURS E POSITION DET ERMINATION--.___ .-TAR



#

PREVIOUSESTIMATED / LANDMARKPOSITION /

A /F--_ /

L__; /L_J 2 # /

/

/I IMPROVEDESTIMAT EOFPOSI TION

tt "MEASUREDA NGLE

GN-giOIA_÷1)94

NAVIGATIONAL MEASUR EMENT

l LANDM__As LANDMARKLOS



STAR ,',f

A At _

M O O N

SEXTANT TELESCOPEFIELD OF VIEW FIELD OF VIEW f'"°_ ,

GN- 910 3 B__ )

9 5

SIM PLIFIED C M C RENDEZOUS NAVIG ATIONAL

FUNCTION AL DIAGRAM



FUNCTION AL DIAGRAM

I ORBITAL X- - ÷ _ ORBITAL X - - +

r-...... ±..... _ " II MEASUREMENT . I _ I [I GEOMETRY _ L------d W EIGmING i II v_o ,- l___ _J< v_O_,o_lII _STt_TEOF ! / _ i I

, I _ ¢ . ,. Ibcl I , I ,4 I .I,72"!< b,,Ji Js,,,,_ c ,.I

I RENDEZVOUS I .......... I /I TRACKING I AS TRONAUTI SENSOR I ACT IONEQDIJMEASUREMENT | I

0NC - 1 6 3( ' _) ' 6

G & C TH RUST VEC TOR C ONTROLREACT IONETENGINEO N-OFFCONTROL SSE MBLY

INmTIAL COMMANDMEASU REMENT MODULE " "UNIT COMPUTER



,.,...o .,o. ,u,ELOCITYNCRE MENTS THRUSTON-OFF

ROLLATTITUDECONTROl.

__o THRUST

ON-OFF

INERTIAL D_GTALIVC

I .MUTOTAL AI._I_j DE COU PLINODATA__UNITS. COMMANDS " _ P'IrlC ALOU'LINO.jTA UNITS

GN&C TVC ACTUATORELOCITY

OYRO _i_ COM MANDSS S E M B LY

NO.I R ATEO R

ATTITUDERROR M' NC COMMANDS CLUTCHCURRENT

M A N U A L G I M B A L T R IM

_4 ACTUATOR POSITI ON

SCSAUTOIVCCO MMANDS

ELECTItONIC SPSCONTROL GIMRALASSEMBLY P OSTION

ASSEMBLY MA NUALGIMBALTRIMN O. 2

@ RAN

IIVC MANUAL SVd TCHINGINP UTSCOMMANDS FORC ONFIGURATIONOG IC

ELECTRO NICISPL AYASSE MBLY ANDE NABLINGUNCTIONS OALLASS EMBLIES

OIMBALPOSITION /FUEL

TllANELATION P |ESSURENDICATO RCONTROL S WITCHING

NTROL

scs. . o{_)I1 7

ENTRY B O UNDARIESENTRYPO

-- NOMINALTRAJECTORY



PERIGEEOF

OVERSHOOT PERGEEOFTRAJECTORY , UNDERSHOOT

TRAJECTORY

X, -- LANDING\ \ SITE\ \

\ --ATMOS PHE RE\

\ INTERFACE

, -,,. _" VA CUUMTRAJE CTORY\-=

GN -2O S A_)

9 8

ST EERING FOR ORBITAL MANU EVERS

THRUS TOH



,o'_ _ _ . _._- '_............................. ..........................................................

*%

-... __ ,_,, _Vg "" _ ATT 9o< 4 S EC STEERING

_.,_ AT RESUL TANT,RAJE CTORy_1 /" Vn_"_. FR OMIMPULSIVE_.V • _-%._ _ _ mlm fm_ / ......................

"'--_ 2 '../.;---_; II --7,,,_:_ ......................IF C" o . _T X _g" o REQUIREDHRUSTACCEL - .. "*. "'. _// _g" V3 b-3 /_*--

Vg" _Vr- _V _. V9 X Ib- AT}" 0 _ -_ . AT 3_[ TM r'-'l

_:TbVr _r V 9 Yr 9AT "_g THRUSTACCEL MEAS UREDAS _V -.-v_ _r3 A_-T3 T _=_"- " IFC 1 V XVa THEN _ -- _ ..__'J# 4J _ [ ._

THEN * - . _g _. -o .......

THRUSTAC CELERA TION i_ _./ _(g-O_--f_- _ IF THERES ADIREC TIONALRROR (DIAGRAMASSUMESC OMPENSA TIONF THRUSTO FF

A_TX Vg • cb XVg Vg THENVg X Ib _. T -_,V) • ,', 8c WHERE_,#c IS THE STEERINGCOMMAND. cg S HIF TINCLUDEDN DRIVINGVg TOO}

9 9



TH RUST V EC TOR C ONTROLSTAB ILIZATION

LOOPELECTRO NCS

S TA B



t cc,,i _ _I LOO P --1

,ssc °u I F ';; ,,,7-;D,- T--] I_-|CONVERTER

I _jo,,,.g,,c_o._ Yo,Mc -IC°"V_"E" IN i i

._ l__ jOS CDU II SERV O SERV CED/A AMP PROPULSION-

I-Ic°.w._,I ASSY SYS TEMI REACTIONJET /ENGINE

i1_ ON-OFF

CONTROL R EACTIONASSY CONTROL

SYSTEM

I _c_-- ----J (_ ,o,NC-ZSA

TVC FUNC TIONAL B LOC K DIAG RAM

c.cgVOC : __IMUOP_A_ SCS _ $¢S $C S _ -- -- -I

GIMBALPOSIT ION _ I r_'l lJ

An I ? : WC



HOLO POS ITION - I

_g ., cs, TOT^L ImTUDE ,I ,'_ I _._Y L __LJ

I L[_CS _ ERR ORNIR_BLE -- SER VO

ERRORSTTIT UDE q _ J LOOPNC (t_gL( --

DRIVECDUSavTHRUST DRIVECDUT

VDC A&B _ ZEROMUMNA&B ENABLEMU( HRCNTR

DISPLA y& CD_DRIVEYKEYB OARD

DSKY

r-'lI II I

I_l _ _x

J P&NPLJLS[S MBALxYz ACCEL IDLES

I _ I too PI_i O.L

I IL..J

E_DN I11 • DRVR _" ._f CONTROLOL[NO_OSRELAYOILS4_

_y TRANSLATIO N FCSM DE EyE 2 J VOC

AV NORM AL1 1 4 R U S T

, swA&6+Y MANUAL. y ROTATIONJ OVERRIDE

P.,c . ,.__. _ , _. []- & CMD _ / CHANte L ' 'YAW CHANk(LISAD __ SWITCH

L1

AUTO_ REAC TION CMISMIMPULSEXFER ,

ACCELMO- DRI VER SWITCHENABLINGCON TR Ot C SW "- -4 L OG IC

ROLL MANA_ _ SW-_mSPS( t_ IGN1---_

OIRECTOT _

1 0 2

TVC DAPSIMP L IFIED BL O CK D IA GR A M

[ c_c o_coo 1 i _c_c --;,_,e" _ ERROR m DIA

I -_ _ _o^_ o_1 _.,c._ I-_ EULER1 .......--'Ic OMPENSAT' 01OUNTERONVER_ER I• • • • • • TO _ ; u =



I I / ERRORe* e * MATRIX e* _

GUIDANCE + i m Y Y YAW YI ERROR D /A _ I

I COMPUTAT 'O NI/I / I ICOMPENSAT'ONIIco '"'_"llC°"v_"'_"i_I

J r_V ' E 'm';/ : ; ;It ".,I iI"-'-' 1 I 1 T,o,,,I-I '_°_ *''I I1 RCSI I I I

I ,sscoo .,,, .,,,co s ,, I I

":"'"moREAoHA ,o '.O 'mCOS ,MOc°,.,,,-,-,:,,°,',v' :,,,_,,_'n'oS 'o II i _1

LEGEND:

ei em eo IMU GIMBALANGLES:NNER,M IDDLEANDOUTER. ep eye R SP ACECR AFTTTITUDERRORS:P ITCH,YAWANDROLL.OJ c em c Oo c IMUGIMBAL-ANGLEOMMANDS:NN ER,MIDDLEANDOUTER. 6p 6y PITCH- ANDYAW-CH ANNELPS G IMBAL-ANGLEOMMAN DS.

e i em eo GIMB AL-ANGLERRORS:NNER,MI DDLEANDOUTER. 6R ROLL-CHANNELMRCS ENGINEON-OFP'COMMANDS .

1 0 3

FUEL PR ESSUR E/GIMBAL POSITION INDICATOR



SPS P ITCHGIMBALANGLE SPS YAW

GIMBALANGLE

" NEED LEINDCATOR

S-II FUEUS-IVBOXIDIZER S -IVB FUELPSI

SPS P ITCHGIMBALSET KNOB

_'.SPS YAW GIMBAL SET KNOB SCS-2 1 04C_)

I @4

THRUST VEC TOR C ONTROL-SIG NAL FLOWCM C C MD 'S A R E

MTVCNT DISABLED NCMCF

S6_'a ENA BLE I CMC TC IS CW O R SC C ONT

I ROTATIONONTROL CMDS SWITCHIN SCS P OSITIONO. ] 1 ACTU ATORNO. ]

- MAGNETCMTVC _ CLUTCHP + I NTE GRAL ENABLE -



it -P. + I NTE GRAL ENABLE ._ -

I I AMPLIFIER)

ROTATIO N RATECONTROL SSAUTO XDUCER

NO. ENABLE_ POS I TI ON/OFF $I" XDUCER

$8 (_,,' / MTVCRATE2 SI 0

OFF GP I

$9 o.., ,f'o M TVCRATE INDICATIONS

LOWRATE SCS TRIM I .'1

; -_ SHAPINGI I ' LI POTS

" _l(. ) -

11S5 4 )

J GY RO I _ _ I LEM OF F __l a ACTUATOR NO"

ASSE MBLY '-_ : - - SHAPING I I POSITIONI I XDUCER

RA TEDUCER

MAGNETIC2 CLUTCH

S1 TVC INT.

ENABLE _C C q CMC CMD'S AREDI S ABLED I N CMC I F ,.,_" ' _o , .,TC IS C W OR SC CON T ._lfi_.l- •

. SWITCHINSCS PO SITIONSCS 2314B_ ._}J1 0 5

TVC FUNC TION ENAB LING LOG IC

PANELSWITCHINGNDLOGICFORENABLINGUNCTIONALWITCHPOSITION

SCCONT 1S 18) BMAGMODE1S21OR 1S22) SPSTVC 1S38OR1S39)TVCGMBLDR( lS27OR 1S 28) XLATIONFAILSENSE

SYST EM FUNCTSW ./PO SITIONCONFIGU - ATT1 1 RATE ACCEL

RAT I ON SWITCH POS. SCS C MC RATE2 RATEI AUTO C MD . C MD I AUTO 2 C W - FS FS I GN2



$ISCSUTO X (2) X X X

SCS ENAB LE X X X XAUTO $2 SCSTR IM XTVC ENABLE X X

( 1 ) $4 (3)HIGHRATE X(3)$ 7 TVCI NT. X X

ENABLE X X X

COMMON $3 MTVC X X OR XF UNCTI ON ENABLE X X J X

X XORX X

M $6 MTVCNT. SWITCHPO SITIONSR ES AMEASF OR$3 BUTL OGICREQUIRESIGN2' ;IGNALT ENABLE

V $8 MTVC X X OR. X X XIC RATE R ATE X X OR X X X X

OR X XORX X X X

CMD MTVC SWITCHPOSITIO NSRESAMEASFOR$8 EX CEPTM AGMODESWITCHMUST BEIN RATEPOSITION$9 R ATE

ACCELCMD $8 AND$9OFF X

SER VONO.I S I O I XX X X

X

SERVO O. SI02 X X

X X

I1). FUNCTIONALWITCHS ll- REPRESE NTS,VCGSW .(1S54 ).S ELECTSEMONORLEMO FFSH APINGCIRCUITS.

(2). FORSCSAUTOBMAGMO DESWIT CHMUSTBEINATT1IRATE POSIT ION,HOWEVER,NABLINGOGICDOESNOTRE QUIREHIS.(3). SWITCH$4 POSITIONS ALS OCONTROLLEDYRATESWITCH1S12). IF (1S1 2)

iS IN "LOW"PO SITION ,THEN,PRI ORTOI GN2 RATESIGNALSAR ESHAPEDHROU GHHIGHGAINCIRCU,TR Y.THIS IS NOTSHOWNN SCS2314DWGBECAUS EHE _e"_. ,.

SIGNALSARENOTSWITCHEDFC TSW$ 1)INTO SERVOAMP UNTILIGN2). (_('_--_'_SCS - 2 8 02A.

10 6

SC S TVC ELEC TRONIC S (PITC H )



; Q S 12

v_S c K.

I GYRO

ASSE MBLY ACSNO.I (A T[ERR OR)

QS28D IS(AC2)

GYROASS EMBLY ACSRA TE)NO.2

qS2 9| QS 25-'ACI)QS_ DIS

1 0 7

SPS SERVO ELEC TRO NIC S (PITC H )"1

-ii:MD I TACH

EXIEND

_IL r- SAA,GIMBAL

.Tvc co ,L L . /GP ,PosRATE



QS I I ITV C-IP WR

T l (Tss) , ..t,| _ACIIMNA_ o----TVC ACI

RETRACT u,/'U 0OF F C B55 (CA)

ACZIMN CBIO (¢ 'A)+lSV I

;' i . .. o ___ _ o_ o . . _ MN A

' ._, . z_scsB.- o. Lp .. y,L o _ o _,

-15V KK_6 GP ITRIM, _ J_J'J_ I SP SIMBAL CB12NO. 1 : __ -- _ ELECT I-m,I IIIII J lHI m ACTUATORTRIM ',l

o

+1_VO. 2 _K1 "--° _o ° l

E I

L _= _ J O ACI / M"A o " z _ e .--ClCB9 (CA)

_jK,j DOFFEXTEND J__ o ---E LA/ TV C- AC2

1_ _ _ (.. . AIII , ,i B54 (eA)

TRIM POleS,GPI, POS, RATE

"* _ TRANSDUCERS.T R ETRACT

*THE SIGNALI S MODIFIEDIN SIG CMC _

CONDCIRCUIT. THEYAWTM CMD J D _ i IUMBERS CH3 5 1 8 H.

CH3517H GIMBAL POSITION PIT CH I O N 2 / _"'" ,CH3 5 18 HGI MBAL POSITI ONy AW I OR 2 SCS-2407E _._ o)

I 0 8

TVC LOG IC(S CS TVC ELE CTRON IC S)

MANUAL ATTITUDE RATE SC C ONT BMAG MODE J SP S TVC

ACCEL P ITCH HIGH CMC PITCH PITC H

MIN IMP RATE I CMD _ _LO W SCS

8 12 18 21 3 8



ENTRY I _V CG LV/SPS IND I I TCV GMBL DRIVE

,05g LEM/CSM S-II/S-IVB PITCH I YAW

OFF C SM GP I 251 5 4 53 27 28

3QS28 RATE I

3 QS29 ( RATE2) + ( ATTI / RATE2)

3 QS2 5 ( HIGH RATE) + I GN 2

3 QS11 LE M OFF

._ 3Q S 12 LEM ON

3 QS3 1 I_ IG N J ( SCS+ C W).(RA TE CMD + ACCEL)+ SCS. AUTO .c wJ]' . ,tISE C

'_ I ' 3 Kll (I GN2) ( SCS +C W)D I

i i

121A SK1 (ATTI / RATE2 ) (0 . 0 5 g)' I GN2 + ( RATECMD MAN. ATT ) ( + BOP)']/// .... , /////_ f

, , - -_ .-" 3 QS21 121ASKIENG E NG ,PON OF F 30S30 IG N2 J( S CS + C W) • (RATECM D + ACCEL ) + S CS • AUTO • C W]

3 K3 D [.(RATE2) + (AftI / RATE2)] (RATEDA MPED MTVC)

3 K3 1 (RATEI)( RATEDA MPED MTVC)

TC 3 QSI SCS • (SCS AUTO)'+ C W •(SCSAUTO)'+ C W" SCS

3 QS2 (SCS AUTO)(IGN 2 ) [ SCS " _ + C MC •C W]

3QS 3 SCS + CW

KI GIM DR 2 + G IM DR AUTO(F.S. + CW) f"'_._', )b 2 GP I S CS-2 8 0 1 AL

1 0 9





SC C ONTROL OF SATURNSTABILIZATION

L O O PELECTRONIS

_,,_ STABL O O P

IMU



, ._"__t I "l LOOP I I

, II

[ , ISS CDU SCS FDAI FDAI

A/D I \C O N V E RT E RI , IL ....

D/ACONVERTER

)I SP L AY A NDINTROL ANEL S-IVBIN

GNC-1 9 1C_) 112

S-IVB C ONTROLCSM lUSTAGE S-IVBSTAGE



GNCZ3B ._'_11 3

EDS FINAL SEP l 2AUTO



@PRPLNTUMP 2 ENGOUT LV RATES 1-TWRJETT-2 I

AUTO AUTO AUTO "--_ j

\ I]el[le[!le [l[,cs o,,e O ,F ei LAUNCHEHICLE !

S-II/'S -IVB XLUNARGUIDANCE LV STAGE

I U INJECT

@ @

PR EPARATION FOR ENTRYSEPA RATON SEPAR ATiN TRIMATTITUDE X_ AI"I'ITUDE

X s cDEORBITV

__ P6I -- / v /_Zsm LOCAL

Xsn /OCAL Zsc " _ Zsm _'HvO RIZ _HORIZ

'r



XscN . M I .

®FLY TOS E PA R AT I O N

ZSM

(9A L I G N

FOR.0 5GSTABLE EMBERREFERENCE

®DEORBIT'-V

ENTRY DAP

n i i '° H IMo ,cou _ XE ORM "PHASE JET I JETEULERT O PLANE " _ SELECTION OUT DRIVERHA N

BoD YBODYATmTU DOG,C I LO_,CI AMPERR °RSDESIRE Di__b ,IDAP REF TO_ ..( ", t



I I I×F°RM I,<'_ATTITUDE "1 GMBL I " _,,." GMBLANGLESI I ANGLES /"

PHASE PL ANE(EXTRAATMOS PHERE) P HASE PLANE (AT MOSPHERE)J ET S TATE

r (YAW) r =-pTAN (_)

VZ : 2° I SEC - JETO N OLL )

x

NOET -"_ _÷ _ v

__ ____ ,____ r___ YAW RATEAUTOP ILOTM ....

CONTROLINE / VD,j._ I /_...-MAXIMUM VELOCITYTRAJECTORY

XZ=3I_ SLOPE_ /--'--_/C \L.IIFSATTITUDECONTROL a , aI ACCELERATION

1 80 o_ X

TERMINAL XS aq XD I VM / aI >a

TR_I I ' ( _ / __I ? I _''''_

.... SHORTESTATHCONTOUR

oy •

DUAL GAIN ROLL ATTITUDEPHASE PLANE WITH CONTROL LINE GNC-I,12A,_I_ ) ]

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No. Measure ment Description Cede .... S / S

CGOOOIV C_PUTERDIGITALATA_0BITS 51DSI 50

CGIO&OV _120VDCPIPASUPPLYCLEV_ iOA83 1CGlllOV 2,5VDCTMBIAS lOA138 1CG1201V IMU28V.8KC1 PCT0D_GSUPRMS 1OA91 1

CG1211V OPTX28V.8KC1 PCT0DEGRMS lOAfS6 1

CG1331V 3.2KC8VSUPPLY 1OA85 1

CG1513X IMU+28VDCSTANDBY llE15-2 lOCG1523X +28VCMCOPERATE llE15-3 i0CG 15 33X OP TX OP ERATE +28 V DC IIEI5- / iO



_CG 20O IV X P IPA SG OUTPUT IN PHASE 5 1A2 50CG 202 1 V Y PIPA SG OUTPUT IN PHASE 5 1A3 5 0CG 20_l V Z P I PA SG OUTPUT IN PHASE 51AA 50CG2112V IGIXR_OLV_OUTPUTIN llA5_ lO

CG 21 1 3 V IG IX RE SOLVER O UTPUT COS i iA59 iOCG 21 1 7V IGA SERVO _R OR IN PHASE 12A2 i 00CG 21_2 V MG IX RE SOLVER OUTPUT SIN l lA6 0 i0CG 2 1 _3 V MG IX RESOL VER OUTPUT COS llA6 1 i0CG 21A7V MGA SERVO ERR OR IN PHASE 12AI i OOCG2172V 0GIXRESOLVERUTPUTIN IIA62 I0CG 2173 V 0G IX RESOL VER OUTPUT COS IIA63 i OCG 21 77V OGA SER VO ERR OR IN PHASE 12A3 I OOCG 2219V PITCH ATT ERROR - CDU DAC OUT I I A6A I0CG 22Ag v YAW ATT ERROR - CDU DAC OUT II A65 i0CG 2279V R OLL ATT ERR OR - CDU DAC OUT II AI 6 iOCG 230OT PIPA T_PF_ATURE IO A96 iCG2301T IRIGT_PF2ATURE lOA1 1CG 23 02 X IMU HEATER CURRF / _ T IO A5 iCG 2 3 0 3X IMU BLOWER CURR_NT I OA7 iCG 3 0 11V TRUNNION C DU FINE ERROR 11A17 1 I 0

CG 3021 V S HAFT CDU FIN E ERROR IIA I SO I 0

1 3 8GNC - 167B - I

PGNCS A / B TLM LIST

PC M

Mea surement C h annel

No. Measurement Description C ode S / S

CG31_OV SXTSHAFTTACH_ER OUTPUT IIA172 iOCG 3150V SXT TRUNNION TACHOMETER OUT PUT IIA173 iOCG3160V SCTSHAFTTACHOMETERUTPUT IOAI3 i

CG3170V SCTTRUNNIONACHOMETERUTPUT lOAf4 i

CG3721V SHAFTDUDACOUTPUT 11A52 iOCG3722V TRUNNIONDUDACOUTPUT IIA53 iOCG50AOX CMCWARNING llE19-1 10



GNC - 167A 139



S C S T M L ist

Mea sure ment Me a surement Response Sensor Range Display Channe lID Descri p tion Rate Bow High Readout Code

CH3558X RCS Solenoid Activate 200 S / S Event None 22E15-7÷Roll / ÷Y

CH3559X RCS So l e n oi d Activate 200 S / S Event No n e 22EII-3-R o ll / +Y

CH3560X RCS Solenoid Activate 200 S / S Event None 22E12-_+RolI / -Y

CH3961X RCS Solenoid Activate 200 S / S Event None 22E16- 8

-R o lI / -YCH3588X Attitude Deadband Minimu m i0 S / S Event Panel

Switch IIE8-2



CH3590X SCS High Rot_Rate Selected i0 S / S Event PanelSwitch llES-&

CH3592X FDAI Scale Error 5, Rates 5 i0 S / S Event PanelSwitch IIE8- 5

CH3593X FDAI Scale ERR50 / 15, i0"S / S Event PanelRa te 50 / 10 Switch 11E8-6

CH3600X LM ATTACHED Selected l0 S / S k_ v ent PanelSwitch llEg-3

CH360hX SPS Solenoid Driver No. 1 l0 S / S Event _4S llE_-_CH3605X SPS Solenoid Driver No. 2 10 S / S Event _4S llE9-_CH3607X Spacecraft Control Source lO S / S Event Panel

Switch Switch llE9-5CH3623X Gyro I Comb. SPIN MOTORS I0 S / S h_ent None llES-7

R un Det

CH362 h l Gyro 2 Comb. SPIN MOTORS lO S / S Event None llES-8R un Det

CH3635X BMAG Mode SW-Roll Att 1 / Rate 2 I0 S / S Event PanelSwitch llk_33-1

CH3636X B_G Mode Sw-Roll Rate 2 i0 S / S Event PanelSwitch IIE33-2

CH3638X BMAG Mode Sw-Pitch Att i / i0 S / S Event PanelRate Switch IIE33-3

14 1S C S 2 9 02

S C S T M L ist

Measurement Measurement Response SensorRange Display Channel

ID Description Rate Low _____Hig Readout Code

CH3639X P_,_OMode S_!- Pitch Rate 2 I0 S / S Event PanelSwitch IIE_33-A

CH36AIX B_AG Mode Sw-Yaw Att i / I0 S / S E_ent PanelRate Switch ii_3-5

CH36AP_X BMAG M o de Sw - Yaw Rate 2 I0 S / S Event PanelSwitch 11_33-6



1 4 2SCS 2 90.3

ACCE L Acceler o meter / Acceler a ti on CS M Com man d a nd Servi c e Mod u leACS Attitude C on tr o l Subsyste m CSS C o mputer S u bsystemAC Alter na t ing Curre n t CTE Ce n tral Timing E qu i p ment

A/ C RCS Q uad s A a nd C C W Cl o ckwise / Con tinu o us Wav eA/ D Anal o g t o Digital UW- N o t Cl o ck wiseALT Attit ud e C / W Cauti o n an d Warni n g

AMP AmplifierARS Attitude Reference Subsystem D / A Digital - t o - Anal o gASCP Attitude Set C o ntr o l Panel DAC Digital t o An al o g C on verterATT Attitu de / Attenuati o n DAP Digital Aut o pil o tATT SET Attit ud e Set DB o rAUTO Au t o ma t i c d .b. D e a d ba nd



DECR Decre a se

B/ D RCS Q u a d s B a nd D DC Direct Curren tBMAG Body Moun te d Attitu d e Gyro D_OD Dem od ul a t o rB.O. Brea k Ou t S witch DSKY Dis p l a y a n d Keybo a r_

bps Bits Per Sec ond

BUR Bac k up R a te E Elev a tion A n gleBURR Ba c k u p Ra te R o ll ECA Elec t ron ic Con t rol AssemblyBURP B a ck up Rate Pitch ECO E n gine Combustion / En gine C u t OFF

BURY Backup Rate Ya w _ DA Electr on ic Display Assembly_ECT Electr on ic

CB Circ u it Breaker _ Ear t h La nd i n g Sys t emCCW Count erclockw ise I_S E ntry Mon itor SystemC&D Contr o ls an d D is p lays _ C _ cod e

CDH Con sta nt Delta Height _ G En gi n eCDU Coupli n g Data U n it _ Err o rCFP Co n ce n tric F light p ] _ nCG Ce n te r o f Gra vity FCSD Flight Cr e w S u p po rt Divisi o n ( MSC)CHAN Chan n el FCS M Flight Com b usti on Stability M o nit o rCM Cc_ Module FDAI Flight Dire c t or Attit u de Ind i c a to rCMC Comma nd Module Comp u ter FUNCT Fun ct i o nalC_ Comma nd

COAS Crew Optical Alignme n t Sight GA Gyr o Assem b lyCONT Con t ro l G&C Gu ida n ce an d C on tr o l

CPS Cycles Per Sec ond GET G r o u nd _ ap se TimeCSC C o secant Computing Amplifier G&N Gu i d a n ce and Havig at i on

scs-29o 143

GNCS O u i d a n ce Navigati o n and MA N Man ual

Con tr o l Syste m MAX Ma_-u mQDC Gyr o Display Co u ple r HDC Mai n D isplay Cons ole(]_BL 04n,ha.l. M]_U M.!114 Ear th Rate UnitGP / FPl Gi mbal P o siti on a nd Fuel M_C Mis s i on Ev e n ts Sequen c e Con tr o l

Pres s ure I n dic a t o r MI N Mini mum

GPI 04 tu balP o siti on Display _K_A Mi dd le Gi mbal A n gleC_ OP Gui d a nc e Sys t em Ope r ations Pla n _H Me ncm eth y l h _ oz e n e

MNA Mai n Bu ss A

ha A po gee Altitude _B Ma4_ Bu ss BHI High / Hello _SB M o st Sig n ifi c ant Bith_ . Perigee Altitude MTVC Man ual Thr u st Vector Co n trolHTRS Heaters

MAV Navigati onICDU I n ertial Coup1_ug Data U n it N B Navigation BaseI GA In n er G_ mbal Angle NORM Normal



_ gI_ Ig n iti o n NRZ Non -ret u r n to Zer oIND I nd icat o r

IMP I mpulse OCDU Opti c s C o upli n g Data Un itIMU I n ertial Measureme n t Unit OGA O u ter @4tu bal An g le

INCR I n crease OPT OpticsI RIG In ertial Rate I n tegr a ti n g Gyro OSS Optics S ub systemISS I n erti al S ub system ORDEAL Or b it Rate Dri v e _ec t r_nic s Apoll o I / 4IU Instru ment U n it OXI D Oxidi z er

KC Kil o Cycles P Pitch Axis o f Co n tr o l / P r ogra mPA P o wer A mplifier

LAT Latitude PB Pu s h Butt onL_ Lo wer Equ i p me n t Bay PCH Pu lse C od e Modmlati onLES Lau n ch Escape System PGNCS Primary Gui d a n ce, Navigatio n a ndLET Lau n c h Es c ape Tow er C on t rol SystemLM Lun ar Module P H Phase

LMK Lan d mar k PIPA P u l s e d I n tegrating P_ d ul o us Aoceler o meterLOR Lun a r Or b it Re nd e z vous FS A Power Serv o Assa_lyL06 Li n e o f Sigh t PPS P u lse Per Seco ndLV Launc h V e h icle_ift Ve c tor PTT P u s h tO Ta3 k

PWR Power TI GN Time o f I gniti onTL C Tr ans lu nar Co a st

R Rol l Axis o f Co ntr o l / Ro u tine TH Te l emetryo r DSKY Dis p l a y Register TPAC Telesc o pe Poi n t ing Angle Counter

RC Ro tati o n C o ntr o l TFF Time o f Freefal lRCS Re a cti o n C o ntr o l System TPF Transfer Ph a se Fina lR_ L Rele a se TPI Transfer Phase Initiati onREV Reverse TTINT Time t o Interce p tRGA Rate Gyr o Assembly TRNFR TransferRJD Re a cti o n Jet Driver TT E Time - t o Eve n tsRJ / EC Re a cti o n Jet and Engine O N-OFF TVC Thrust Vect o r C on tr o l

Control TVSA Thrust Vect o r Posit i on Serve AmplifierRLVDT Rot a ry Linear Var i a ble

Differential Transf o rmer UDL Up Data LinkG R UPTLM U Li k T l



RNG Range UPTLM Up- Link Te l emetryROT R o tati on

RSI Rol l Stability In dicator V VelocityRTC Real Tim e Co mmands VM V e l o city M e asuredRUPT InteLL u pt Vc Circular Vel o city

Vo I n itial Vel o city at .OtgS / C SpacecraftSCT Scanning Telesc o pe XLATION Translati o nSCS Stabilizationand ControlSystem XLUNAR TranslunarSIG Sign_1

SLOS Star Line of Sight AV Differential VelocitySM ServiceModule

SMJC Service Module Jettis o n Controller _ Roll C o ntr o l Axis Designati o n / PhaseSHED Spin M o t or Ro t a ti on Detect or

SPS Service Pr o pulsi o n System / Samples _ Y a w Con tr o l Axis Desig na tionp er S ec ond

STBY Standby _ Pitch C on tr o l Axis Design a ti o nSW SwitchSXT Sextant

SYNC Synchr o nize

SYS System

TC Translati o n C o ntrolTEC Transearth C o astTI_ I P Tem p er a tureTFL Time - From - Lau nch

SCS-29061 4 5

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Apollo Training Guidance and Control 09151967

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