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APOLLO TRAININOGUIDANCE AND CONTROLSYSTEMS - BLOCK IIs/c lO_15SEPTEMBER 1967 FOR TRAINING PURPOSES ONLYOOI6"l'le2_

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S-IVB CONTROLCSM lUSTAGE S-IVBSTAGEGNCIZ3Bt._'_113

EDS FINAL SEP l 2AUTO@PRPLNTDUMP 2 ENGOUT LVRATES 1-TWRJETT-2 IAUTO AUTO AUTO "--_ j\ I]el[le[![le[l[,cs o,,e O,F ei LAUNCHVEHICLE !S-II/'S-

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EMS HOUSINGFRONT PANEL

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OFF-SET FLIGHT LIMITS01038 37 36 35 34 33 32 31 30 29 28 27 26 25 24VELOCITY,V,-.,1000FPS {._)SCS-Z)09 124

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MAIN DISPLAY CONSOLEG&C SWITCHING LOCATOR1 39 ,6

NON-EXIT ENTRY PATTERNFOR EM$ORBITAL MISSION?9? 7 o_" 8 6 4 05_ 1___ 345Go3, I, is l_L°i6151413,, 1°'' :'NERTtALVELOCITY,V~1000EPS

EMS FUNCTIONAL BLOCK DIAGRAMI- 1I SELFTESTCIRCUITS 61 O.05G I _1 IOSECI 0 G±l___ I .I I o.2G J---_-_ G>O.2GI ._ I COMPARATORI .__ ._ G<O.2GI AiD

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7EDSPOWEROFFTVC SERVO POWERI-AC1/MNA-2,_R2 _ OrEI 1 BMAq POWER 2 IWARMUP WARMUPOFF ON@ _pN-7-1At_._2S

SCSNONSWlTCHED POWERI IPANEL229 I PANEL4) IMAIN k MAINR | I pOLLAJC ROLLRID PITCHCHANNELENAI_!_.J[| | CHANNELENABLE CHANNELENABLE YAWCHANNElENABLESM C

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PGNCS A/B TLM LISTPONMeasurement ChannelNo. Measurement Description Cede ... S/SCGOOOIV C_PUTERDIGITALDATA_0BITS 51DSI 50CGIO&OV _120VDCPIPASUPPL

PGNCS A/B TLM LISTPCMMeasurement ChannelNo. Measurement Description Code S/SCG31_OV SXTSHAFTTACH_ER OUTPUT IIA172 iOCG 3150V SXT TRUNNION TACHOMETER O

SOS TMListMeasurement Measurement Response SensorRange Display ChannelID Description Rate Lo__ww High Readout CodeCH35OOV Attitude Error Pitch 50 S/S

SCS TM ListMeasurement Measurement Response Sensor Range Display ChannelID Description Rate Bow High Readout CodeCH3558X RCS Solenoid Activate 200 S/S

SCS TM ListMeasurement Measurement Response SensorRange Display ChannelID Description Rate Low _____High Readout CodeCH3639X P_,_OMode S_!- Pitch Rate

ACCEL Accelerometer/Acceleration CSM Command and Service ModuleACS Attitude Control Subsystem CSS Computer SubsystemAC Alternating Current CTE Central

GNCS Ouidance Navigation and MAN ManualControl System MAX Ma_-umQDC Gyro Display Coupler HDC Main Display Console(]_BL 04n,ha.l. M]_U M.!114 Earth Rat

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APOLLOTRAININGGUIDANCE AND CONTROLSYSTEMS- BLOCK IIs/c _o_15 SEPTEMBER1967 FOR TRAINING PURPOSESONLYOG,IS_'_¢Q

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CSM GUIDANCE COMPUTER MISSION PROGRA_Si. Prelat_ch & Service 8. AbortPOO CMC Idling P7_ LM Transfer Phase Initiation (TPI)POI Prelaunch Initializa

CDU FUNCTIONAL INTERFACESCDU_ INERTIALCHANNEL#I MEASUREMENTUNITA # PULSESI CHANNEL02 _ FLIGHT DIRECTORATTITUDE INDICATORCHANNEL #3CMCSATURN STEERINGCH

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CDUSINGLE CHANNELRESOLVER CDUSINe COSqJ- COSOSINq_ IN (O-VJ)MECHANI ZATION'/q' CMCi 16 STAGECOUNTER [-I COUNTERINPUTANALOGTObl GITALCONVERTE

ICDU FUNCTIONAL BLOCK DIAGRAM--51.2 KCFROMCOMP.r,Mu l_ ...J. SIN Og ._ ZEROIMU CDU_ PULSEI& 16SPEEDGENERATOR(12-5)INHIBITCOS#g -_RESOLVERSWITCHIN

OCDU FUNCTIONAL BLOCK DIAGRAM_--51.2 KCFROMCOMP.ZEROOPTICSCDU'S J PULSE J(12-1) INHIBIT -J GENERATORI128Kc_ _cPs-- _SEXTANT -I RATERESOLVER SELEC

CDU COARSE MODULE BLOCK DIAGRAMIMu JI "1 ",..CAGEixRES":)l -COS67.SI(.)8))s3_ :' !AMrt,/ . ERRORpc3 -2_214_13+2_2_z_Iq 3 , SIGNAL

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QUESTIONS RELATIVETO THE CONTENTS OF THISDOCUMENT SHOULD BEDIRECTEDTO:D.P. BENNETTA.R. PAYNEW.O. RUFFINA.H. SOHLERNAA, SDDOWNEY, CALl FORNIAExtension

e=O°21.5214213212211210 29 20READCOUN'[ER..!01 Of 0 I0 I 01 0[0 l.,_.Jl-'_ll_J6oDRIVECONTROLSIGNALS._. DC3, 5&9All"NEIWORK(+) COS 2

e=42.2 °21.5214213212211210 29 20REAl)COU_IE.-_R_ ,:_]'I_ IDRIVECONTROL.- DC3,5,10, 11& 12 ATTNE1WORK \ \ \ WSIGNALS +) .., 'C-"S.,

DIGITAL TO ANALOG CONVERTERMODULE BLOCK DIAGRAMTYPICALICDU CHANNEL+ PDA --_ • POLARITY-IDAI-o.I 1..,...•°°U"T"I -I"'_".TO.SiG

COUPLING DATA UNITSIMPLIFIED BLOCK DIAGRAMi Muu I (SIMPLIFIED BLOCKDIAGRA )| 1/ .*-SIN llle .J (_1I_ _,,,_ J I 1 IL1.i,.,,.-; c-,w.--,,_ ®.1___,,.__ I

OPTICAL SCHEMATICSEXTANT SCANNING TELESCOPELINE OFIsIGHTI LINEOF SI'GHT2 I LINE O_SIGHTTRUNNIONu__,_ !.__DRIVE__,. ",_l,_l,_,ul'_ x-TRU

OPTICAL SUBSYSTEMZ_AsOSS CDUZ_ATAT ASSXT SCTCMC TRUNNION )NCONTROLLO0P CONTROLLO0PINDICATOR SHAFT SHAFTCONTROL CONTROLLOOP CONTROLLOOPPANEL

INDICATOR CONTROL PANELIf CONTROLLER *t _MOOE JSPEED COUPLING/ VI_R LIST " NQUN LIST CONDITIONCMC HI DIRECT (.%1/.,_'(j i( 1, 7/tt)(.l(ll&ap

G&N LOWEREQUIPMENTBAYBLOCK II

OPTICSMODESr"... %.-1I I'OPTICS ERROR READI.._CONmOLLEU._- 1 COUNTER COUNTER J.ODe js_mD COU_-LNGI J J/,'_'_c_c_-'_., f&apo

OPTICS MECHANIZATIONI'lce 314ovco3Igor_":° [r...' k,--IA¢TPUV _ AAI_U,./, •I -" "d'_°_,.,,.,_,_,.,,,...,.,_,,_,,,_. C

TABLE OF CONTENTSSe ction PageI INTRODUCTION ... 1II COMPUTER AND COUPUNG DATA UNITS ... 9HI OPTICAL AND INERTIAL SUBSYSTEMS . . . Z9IV ATTI

IN RTIAL SUBSYSTEMINTERFACE,,_POWER I SUBSYSTEM POWER JI _TFCT'_ I PULSE I SUPPLIIES I ?DIGITAL COMMANDS_ MAIN OitC PANEL_____ AND DATA FLOW ACCE

BLOCK II STABILIZATION LOOPSTORQUEMOTORDEMODREFTORQUE 3200CPSr- ... -.--0 IiiYIRIGASSEMBLY--'11 MOTOR Ii I J 800CPSIIII I I SERVOII I II I >&

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TEMPERATURE CONTROL SYSTEMINNERGIMBAL IOU_t.NC_kQALi CASE II I IC(_D _ 2303 XI -IBLO_ _n. | I IPOWER BLOWER,mR. ,_ _F, _.,¢oo..0 CURREN.ITOGYROWHEELS

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REFERENCECOORDINATE SYSTEMSZl _ojeGREENWICH _ _--_"'_MERIDIAN , _ "_( If_' IATORGEOCENTRICCARTESIAN GEODETICPOLARROTATING•. INERTI

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47

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G&C ATTITUDE CONTROLIs-_*iTRANSLATION E_ENTS J : DIRECTULLAGEcomtoL CONTROLSUBSYSTEMI_'_ CCWSW (MANABORT)J CWSWRA11[ ORoYto _ ATTI11JDEOYRO _

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RCSDAP MODELlATE LIMITLOGIC,1¢ "O --,;_'_<'-- ' 0.n'_4A5£ M_NE L_ICFILTERCDUSOC_C#-C+SOT.f-GISEC- COUX-7.25°EULERTOgOOY _i

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RCS ENGINE FUNCTIONS+PITCH +YROTATIO_TRANSLATIONTRXANsLAT,ON4_ ___+Y_ A_I__SM RCS ENG,NES(4 SETS,"'-+x_._ W_ ,i+ROLL__'_.._""

PROPULSION TORQUE ANDFORCEINPUTS TO THE S/CCW +P +PITCH +Y+X -P -Z 12 ROTATIONv_,TRANSLATION+y/ RCSMOTOR(4 SETS)TRANSLATION 3 A 1631+X+ 13 2 ,,ROTATIO

+ YAW_'+ PITCHROTATIONCONTROLT/#_k PITCH PIVOTPUSHTOTALKSWITCHPARAMETERS 4"0"1/ _'(_PALMCENTERED)_'-llo°'x"_"+

ROTATION CONTROL INTERFACES]. 5°1 "O I1 I I12° \ 14"_ ! /', '_/ /\\ \ r ', /I /\_ il /\x i| /\,_x '_ill I/"' _

TRANSLATION CONTROL01T'CCW CWCW & CCW CONTROLMOTION LIMITSHARDSTOP,DETENT& SWITCHCLOSURE 17°+2`,FORCEINTODETENT 15:1:5.0 LB INCHESOUTOFDE

TRANSLATION CONTROL INTERFACES-Z\+X -X"CCW" CW_-_lT_ i+17_ "SCS ENABLE"I IMANABORT_ I iIk I ICM _ t° +X SIOI IMNA +28VOC A_CMISMTR

PITCHBMAGLOGICAND OUTPUTS=-- G_T H S II-]_ G_MANUAL ATTITUDEROTATION PITCH,_._._.-__ _o,_o_(:I:P.B.0.2)'-'_ J ' SPSIGN2 ._j LOGIC(ATT].

SCS GYRO ASSEMBLY NO.1SMRD TMJ 800 CPSNOTCHSMRDCOILA800 CPS"1 NOTCH_ | FILTERSMRDCOIL _ CH3623X+28 VDCI 800CPS'1 NOTCHI FILTERSMRD CH3623X-

SCS ATTITUDE CONTROLFUNCTIONAL OPERATIONMTVC ENABLE(PITCH& YAW)ROTATION MTVC ENABLECONTROL COMMANDSROLLONLYNO. 1CONTROL (PITCH'I_YAWl ¢NO.2 B

SCS ATTITUDE CONTROLPITCH CHANNELACI _31MTVC RATEENABLE400 CPS3KI =RATEI t IGN2 •[(SOS•AUTO• CW)+(SCS• RATECMD) + (CMC • RATECMD • CW)]ROTATION3K2=(RA

SCS ATTITUDE CONTROLROLL CHANNELI ROTMIONcONTROLNo., HAWo'VEl--CONTROL HALFWAVENO.2 DEMOD iQS_ R-B.O.I400CPS +R-B.O.2AClRATEENABLE [+)SDDEMOD/SWI

¢,.9 "" °++'T''TII0 _ ,.+++-+.,N'_ m m<' +_14+< t_--,+ +-_+++++_++p¢, _,mN_00 ÷ i

PGNCS DATA FLOWSTEERING SIGNALS (S-IVB)SWITCHING !1ATTITUDEERROR& ATTITUDE_I SCSDLSPLAYS& I..,CONFIGURATION, (:vm ,,,_,,u_,- mTM l m ..,-,.BIm

AUTO RCS LOGICTYPICAL CHANNEL (PITCH)+e SWAMP J_'iI w-- I-e.SWAMP_ENABLDCH3N6X CM RCSRCS r_l+PiTC H (+_lCH3547X I +PITCH, ;JII c!- mCH3548X I &qu

ENABLING POWER- AUTO RCSI, A&C RCLLENA8LE_CONTROLS & -- BAD ROLLENABLE,, SOLENOIDPRWER ENA3LECKT DISPLAYS PANEL ENABLEBUS BUS BREAKER f"°

RCS LATCHING RELAY LOGICADAPTER28 _--r-_m"_ O.8SECVDC "l DELAYi I3 SEeDELAY1.0LESOFF DIRULLAGE SECMANUALABORT DELAY 28VDC TOTRANSCCW OX. DUM

DIRECT CONTROL LOOPSTART FROMSMICM SEPSW1414 _1414 1 t, 0---_o_ROT. CONT i |i i:: _ r_-h_ ,LESGONE--_',_._1TRANS CN11.CCW'-_I"_"/_

ACS CONTROL CAPABILITIESMANUAL AUTOMATICACCELERATIONTRANSLATION MINIMUM PROPORTIONAL RATE AI"rlTUDEDIRECT CMD IMPULSE RATE(4) DAMPINO HOLDIACCELC

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SCS CONTROL PANEL SWITCHING TMDEADBANDSW CEAI'_IcH3588X -ATTITUDEDEAD- BMAGMODE C13-1A106o MAX 1_L BANDMINIMUM SWITCHES SIGNAL28 VDC _ _ - - TO S

G & C ATTITUDE REFERENCEINERTIAL _COUu:L,NOMEASUREMENT/_ -_ _, COMPUTER DISPLAYUNIT _ )_]_1 ATTITUDE KEYBOARDATTITUDE _ _ol_ _ IMU ERRORTOTAL ANGU

ATTITUDEREFERENCESUBSYSTEMFUNCTIONAL OPERATIONCMCGDCOFF NON-EULERALIGN GDC ATTSET Al'I"SET IMUPITCHaGDCIo EULER IMUo I RC .0._o_..._,o_ _I

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PGNCS EQUIPMENTOPTICS ASSEMBLYPIPAELECTRONICS SIGNALCONDITIONER IMUASSEMBLY_INDICATORCONTROLPANEL _'q_l IPOWER NELDSKYASSEMBLY• )COUPLINGDATAUNIT

FLIGHT DIRECTOR ATTITUDE INDICATORROLL+ANGULAR VELOCITY-+AI-rlTUDEERROR-PITCH& YAW INDEXpIATTITUDET ANGULARERROR C VELOCITY+ H +EULERATI'ITUD

FDAI RATE SELECTLOGICFDAI FDAISCALE SELECT FDAI 1BMAG MODEPITCH _lRATE2 I° I ±I_-/SEC 1 I PITCHATI 1 RATE2I : :t:5°/SEC RATERATE11 :t:lO°/SEC 2°B_AGMO

FDAI ATTITUDE SELECT LOGICFDA IBi TIMU:' CMC: tGDC°:l : ATTSET-- : FDAI2ENTRY".05(; ' GDCI IMU2_GDC - OFFI rDAI' SCALEFDAI1"-

FDAI/GDC SHAFTRELATIONSHIPEULER_._,f,'_ _CPS ERRORVG +¢'eOGATOTAL RESOLVER&MOTORXB ATTITUDEROLLINDEX IGAYB -'&MOTORZB "_EU

GYRO DISPLAY COUPLER0_°• EULER".05cJ•GDCALIGN GDCALIGN GDCALIGNK84 K87 K83 JE_ TEULER ALIGNK89ENTRYEMSROLLON"IO_I'/'¢ ALIGN0 EK87K

FDAI SIGNAL FLOWATTSETSW AI"rlTUDETOGDC "1 ERROR,o. o,=, _ -I,-.q )-IololoMFDAI NO. 1FDAI NO. 2i _,._ !,I,TOALIGNololoH_'_'°_,ATT

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ARS SWITCHINGARS TOTAL ERRORDISP DISPCONFIGURATIONS A'ITITUDEDISPSOURCES SOURCES(4) SOURCESRATE 2PITCH ATI"1/ _B RATE2M RATEi I.,/A RATE2 I&

RATEAND ATTITUDEERRORTELEMETRYPICKOFFCR1FDAI1 (TYPICAL)IF-- I_-;_o_-E_o_,"l,I FEEDBACK I-15 POT III __ I CIRCUITRY IN EDAIi +15l : I:_ j oR,_ _..

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GUIDANCE NAVIGATION, s,,_o,o,,,,,AND COI_TROLSYSTEMSTOWA(_ rOPTICSASSEMBLY_ __ SIGNAL CONDITIONERASSEMBLYSPACE _11 _ SCANNINGTELESCOPESEXTANTINERTIALM

ORDEAL PANELI 1 FDAI 2 i EARTHILl l.._I INRTL _.,J J) L,,.J 100 . 200MODE SLEW _2507 LIGHTING'_ BRT O PR/SLOWjT1 UP 50DIM HOLD/FAST_U q DOWNv,_°_

ORDEAL INTERFACEMocI ] IP,TcHIOROEA IFOA,FDAI _ DEA _ FDA! " 1 & 2SWITCHING ONLY SWITCHING117

ORDEAL FUNCTIONAL BLOCK DIAGRAM150too ALTSETBASICTIMING ALTITUDE400PPS -'- VARIATION1I LOGICFORMAINTIMER .._ EARTH& LUNAR]1BITCOUNTER FIXEDOR

ORDEAL SIGNAL FLOW DIAGRAMALT SETISDEARTHRATE _"r _T ,o_==SW P0S _ .'® =_ _ FINE_,[_ 20 (8 BIT COUN_R) COUNT... 27ENABLELUNAR RATE

LONGITUDE-LATITUDE DETERMINATIONZIGREENWI CHMERIDIAN,,III LAT& LONGIIIIIIj .CSM AT TICSM AT TOAZ --AZO+ (o (t + t ephem)GNC'I/O{C_)) SO

EARTH ORBIT NAVIGATION30° 46° XLOCAL VERTI_--TANGENT J30°P01NTYEARTH ORBIT GEOMETRY FIGURE I VIEW ON SURFACE FIGURE 3I _ > _ DIRECTIONOFMOTION/ _-,

ORBITAL LANDMARK TRACKINGVELA, B FUNCTIONOFORBITALALTITUDECM',ROUNDTRACKg2

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