Remote programmable position controller for guidance signal processor and tape mode

Gitlin, M.

English

NASA Technical Reports Server

a 
APRIL 20, 1964 
A 
REMOTE PROGRAMMABLE POSITION CONTROLLER 
NAS 8-5346 
May 1963 to February 1964 
F I N A L  R E P O R T  
Prepared for , 
George C. Marshall Space Center 
Huntsville, Alabama 
GPO PRICE s 
Approved by: 
H. Sc he ithaue r 
OTS PRICE(S) s 
THE BENDIX CORPORATION 
ECLIPSE -PIONEER DIVISION 
TETERBORO, NEW JERSEY 
https://ntrs.nasa.gov/search.jsp?R=19650013606 2020-03-17T00:10:15+00:00Z
o 
T A B L E  O F  C O N T E N T S  --------------------- 
Section Title 
1 . 0  
2. 0 
3 . 0  
4.0 
5 . 0  
6.0 
7.0 
Introduction 
General 
Conclusion 
Design 
Power Requir erne nt s 
Operation 
Appendix I 
Page 
1 
2 
3 
4 
7 
8 
9 
-1- 
c < 
c 
e 
Issue: Original 
Date: April 20, 1964 
MT-8075 
Page 1 
1 . 0  INTRODUCTION 
The Remote Programmable Position Controller (X-1837470-1) 
was produced for the National Aeronautics and Space Administra- 
tion, Marshall Space Flight Center, Huntsville, Alabama. 
The system was designed and manufactured in accordance with 
Proposal 7511 -62-R17. The contract number was NAS-8-5346. 
. 
Issue: Original 
Date: April 20, 1964 
MT-8075 
Page 2 
2. 0 GENERAL 
The Remote Programmable Position Controller consists of 
Reader feeds the information "read" on the programmed tape 
into the Mode Panel which converts this information into e r ro r  
signals which a r e  fed into the electronics of the Servoed Three- 7, 
Axis Test Stand, (X-l822716-1), thereby positioning the gimbals. 1 
In addition, the Mode Panel houses the Modulators and Level 
Detectors used when the Three-Axis Test Stand is to be opera- 
ted in the Guidance Signal Processor Mode. The control for 
switching between the Tape and G. S. P. Mode is located on the 
Mode Panel and is so arranged that when switched either into the 
Tape or  G. S. P. positions the Normal Slewing Mode is discon- 
nected. 
i, o panels 3 a Tape Reader and a Mode Panel. The Tape 
6- 
Is sue: Original 
Date: April 20, 1964 
3.0 CONCLUSION 
MT- 8075 
Page 3 
The Remote Programmable Position Controller was installed 
at NASA, Marshall Space Flight Center, Huntsville, Alabama. 
The system is operating satisfactorily and meets all the 
original specifications and design requirements. 
i 
Is sue: Original 
Date: April  20, 1964 
MT-8075 
Page 4 
4.0 DESIGN 
E h e  Remote Programmable Position Controller receives 
signals from a programmed punched tape and, in turn, trans- 
mits information corresponding to angular movements to the 
associated circuitry thereby positioning the gimbals of the 
Servoed Three-Axis Test Stand. 
The electronics for the R. P. P. C. is housed in a standard 19 
inch rack mounted panel 8-3/4 inches high by 20 inches deep. 
The associated tape reader is a Tally Model Number 424 rack 
mounted in a standard 19 inch panel. 
1 
The electrcmics in the Mode Control Panel a r e  mounted on 
twelve plug-in cards. 
The function of each of these cards will now be described. 
4.1 Frequency Divider and Tape Driver Card 
4. 2 
The purpose of this card is: to convert 11 5 volts, 60 cycles to 
24 volts, 15 cycles. 
drive the read head of the tape reader. 
power supply needed fo r  biasing purposes is also housed on 
this card. 
This 15 cycle square wave is used to 
The -9 volts d. c. 
Stepping Motor Drive Cards 
These cards convert the signals received from the Tape Reader 
into information used to position each of the gimbals. 
a r e  six identical cards in the system; two for each gimbal; 
one for clockwise rotation and one for counter-clockwise rota- 
tion. 
There 
e e 
I Is sue: Original MT-8075 
Page 5 I Date: April 20, 1964 
4.3 Tape Direction Control Card 
This card controls the direction that the Tape Reader drives. 
The circuitry is designed so that signals received from the 
tape "read" head can cause a reversal  in the direction of tape 
travel. The card can also be activated manually. i 
4.4 Stop Card 
This card contains the circuitry to inhibit the operation of the 
Frequency Divider card thereby stopping the Tape Reader. 
This operation may be performed either manually or as a re- 
sult of signals received from the tape "read" head. 
4. 5 Lamp Driver Card 
This card contains all of the circuitry necessary for operating 
the illuminated labels on the front of the panel associated with 
the particular action of the system. 
4.6 Modulator Card 
~~ 
I' 
This card is used only when the>system is in the G. S. P. mode. 
This card receives d. c. signals from either the G. S. P. simu- 
lator or  the flight G. S. P. *, converts these signals to propor- 
tional 400 cycle signals and feeds them to the resolvers in the 
Three-Axis Test Stand. The outputs of each of these resolvers 
a re  in turn fed to the test stand amplifiers and associated 
circuitry thereby positioning each of the gimbals. 
, 
Issue: Original 
Date: April 20, 1964 
MT-8075 
Page 6 
4.7 Level Detector Card 
This card is used only when the system is in the G. S. P. mode. 
The circuitry is connected to the control transmitter on the 
Roll Axis Gimbal of the test stand. The function of the card 
is to provide a warning signal when the Roll Axis Gimbal is 
rotated 50° from its 0' position. 
rotated another l o o  an interlock is activated which removes 
power to the Roll Axis Power Amplifier. 
If the gimbal is further 
e 
Issue: Original 
Date: April 20, 1964 
MT- 807 5 
Page 7 
5 . 0  POWER REQUIREMENTS 
The power requirements of the R. P. P. C. are as follows: 
28 volts d. c., 5 amperes 
115 volts, 60 cps, 1 phase - 2 amperes 
115 volts, 400 cps, 3 phase - 3 amperes/phase. 
, 
Issue: Original 
Date: April 20, 1964 
MT-8075 
Page 8 
6 . 0  OPERATION 
Appendix I, MT-8103, Operating Instructions for Remote 
Programmable Position Controller covers, in detail, the 
procedur es for ope ration. 
NASA personnel have also been instructed in the operation. 
Ieeue: Original 
Date: April 20, 1964 
7 . 0  APPENDIX I 
MT- 8075 
Page 9 
MT-8103 -- Operating Instructions for Remote Programmable 
Position 'Controller (X-1837470-1). 
.- e 
TO: Engineering File MT- 8103 
From: Mr. Richard Mc Crea 
Iesue: Original 
Date: 
Operating Instructions for 
Remote Programmable Position 
Controller 
Prepared by 
Richard Mc C rea 
This document contains information of a proprietary 
nature to Eclipse -Pioneer Division. 
must remain at Eclipse-Pioneer and is to bc returned 
to the Engineering Department when the usei ir finished 
with it. 
This report 
1. 0 
2 . 0  
3.0 
4. 0 
5.0 
6 .  0 
7 . 0  
TABLE OF CONTENTS 
Page 
Introduction 1 
Power Requirements 2 
General Description 
Description of Panel Controls 
2 
4 
Operating Instruction for Tape Mode 7 
Operating Instruction for G. S. P. Mode g, 
Shut Down Procedure for both Modes 1 n. 
FIGURE 1 - Mode Panel 
FIGURE 2 - TaDe Reader 
0 .- 
Issue: Original 
Date: 1/8/64 
MT-8103 
Page 1 
1. 0 INTRODUCTION 
&he - purpose of this report is to state the procedure for 
operating the Servoed Three Axis Test Stand in the Tape 
and Guidance Signal Processor modes.-/ 
*”-^  
When operated in the tape mode the test stand is connected 
to a tape reader, which feeds a pre-selected program to 
each Control panel through the Mode panel thereby automati- 
cally positioning or slewing each of the gimbals. 
In the G. S. P. mode, the Mode panel employs the signal 
from the Guidance Signal Processor or its simulator to 
slew the gimbals by using the resolverb in the pivots of 
the gimbals to transform from command signals to test 
stand gimbal e r ro r  signals. 
In addition, a safety interlock has been provided which 
functions when in the GSP mode. 
wil l  also be described. 
The function of this device 
Issue: Original 
Date: 1/8/64 
2.0 Power Requirements: 
28 t - 1 volt, 8 AMPS 
1ll5 volts 60 + 1% , 60 cycles, 1 phase - 2 AMP 
115 volts t 2 volt, 400 - t .004 cycles, 3 phase - 3 AMP/+ 
- 
- 
3. 0 General Description: 
\ -., > 
Two panels have beenadded to the existing system X1822716-1 
which has been previously described by MT- 1166. These a re  
the Mode panel ( see Figure 1 ) and the Tape reader 
(see Figure 2 ). 
Since the tape reader can transmit 8 channels of information, 
two channels a re  allocated for each of the three gimbals to 
provide a clockwise or counter clockwise movement of the 
gimbal. The remaining two channels a re  for automatically 
reversing the drive direction of the reader or  for stopping it. 
The Mode panel contains the switches which controls the 
functions of the tape reader when the MODE SELECTOR switch 
is in TAPE. In this mode, the signal which is a function of the 
hole in the coded tape in the Reader enters the Mode panel. 
It is amplified and directed to one of the three Control panels 
X1811600, The particular panel that it enters is a function of 
the channel in which the hole is punched in the tape. 
Control panel, a stepping motor is stepped each time a pulse 
is received from the tape. 
slewing control transformer's rotor and in this manner rotates 
the gimbal. 
In the 
The stepping motor rotates the 
Each step of the motor rotates the gimbal . O l  degrees. 
Issue: 0 r i ginal 
Date: 1/8/64 
MT- 8103 
Page 3 
If the MODE SELECTOR is placed into the GSP positiorl, 
the D. C. command signal from the GSP enters the Mode 
panel where it is modulated by a 400 cps reference voltage 
and is directed to the proper Control panel. The signal 
is then transmitted to the appropriate Power panel to drive 
the gimbal. Relays are  utilized in the Control panel for 
conveying the signal and are  energized by the position of 
the MODE SELECTOR switch on the Mode panel. 
In the GSP mode, due to torque and stability considerations 
the roll axis should not be driven greater than 60°. 
To ensure awareness of this on the par t  of an operator, a 
warning light and buzzer has been instituted which wi l l  both 
become activated when the roll axis gimbal has rotated 
50 degrees. 
interlock cuts off the signal to the power amplifiers whereby 
the middle gimbal can not be slewed. 
If the gimbals is still rotated another loo an 
In addition, the Mode panel contains the switches controlling 
the power to the Tape reader and to its own electronic cards. 
A further description of the switches and lights on the Mode 
panel will follow. 
Issue: Original 
Date: 1/8/64 
4.0 
4.1 
4.2 
4.3 
4.4 
DESCRIPTION O F  PANEL CONTROLS : 
28 VDC Switch 
MT- 8103 
Page 4, 
In the "ON" position this voltage is used as  bias voltage 
for all of the cards in the NDlXF4nel. It is also used to 
drive the tape reader and the stepping motors located in 
each of the control panels. 
*. 
115 V 400 P Switch 
In the "ON" position voltage is made availaljle to the 
Switching Transformers used in the modulator card. 
l l5  V 60Cps Switch 
..- 
Y 
In the ''0"' position voltage is made available to the 
Tape Reach motor and to the transformers drisiing .the - 
frequency divider and the -7 volt DC power supply. 
Mode Selector Switch 
This switch selects either the tape mode of operation o r  
the GSP mode of operation. For  either GSP or TAPE mode 
of operation switches S4 on the control panel must be in the 
REMOTE POSITION. When the switch is in the GSP position 
the CX-CT misalignment interlock is cut-out and the output 
of the modulator is connected to the power amplifiers in the 
power panel. 
The GSP light in the MODE PANEL should become illuminated. 
c 
Issue: Original 
Date: 1/8/64 
4. 5 
4. 6 
4. 7 
4. 8 
4. 9 
MT -8103 
Page 5 
When the switch is in the TAPE position excitation is provided 
to energize the tape reader. 
in the control panel is disengaged and the stepping motor is 
engaged by clutches. 
wil l  become illuminated. 
In addition the slewing motor 
The Tape light in the MODE P A N E L  
For Normal operation as described in MT-1166, switch S4 on 
the control panels should be in the internal position and the 
MODE SELECTOR SWITCH on the Mode Panel should be in the 
"OFF" position. 
Program Forward switch: 
Operates tape reader in the forward direction ; i. e. tape 
advancing from left reel to right reel. FOAWARR light ;dill 
become illuminated. 
Program Reverse switch: 
Operates tape reader in the reverse direction; i. e. tape 
advancing from right r e e l  to left reel. 
be come illuminated. 
REVJ3GE.Ilight whll 
StoD switch: 
Stops mpe Reader. light wil l  become illuminated. 
Single Step Forward: 
Advances tape one step in the forward direction. 
S ingle Step Re ve r se : 
Advances tape one step:.in the reverse direction. 
c I e 
Issue: Original 
Date: 1/8/64 
4.10 Tape -Fast Traverse Forward: 
Provides rapid travel in the forward direction. 
4.11 Tape - Fas t Trave rs e Re ve r s e : 
Provides rapid travel in the reverse direction. 
4.12 Roll Axis Warnine: 
MT -8103 
Indicates that the Ibll Axis gimbal has been rotated 
50°. 
w i l l  begin to operate. 
If this situation occurs a W M N Q  l*%gls$lan’d beer 
When asar- signal is indicated the GSP controls 
should be turned so that the roll axis gimbal is rotated 
in a direction to decrease the angle. 
4.13 Roll Axis Interlock light: 
0 
Indicates that the I;bllAxis gimbal has been rotated 60 . 
The interlock can be activated only in the GSP mode. 
When the XZU.TE1REOCK light i s  iUuminatdsd €he. 
to the ~ l l  &is Power Rmplifier are  cut off and the input 
to the amplifier is short circuited. 
signal 
Is sue: 
Date: 
5.0 
5.1 
5.2 
5.3 
5.4 
5.5 
5.6 
5.7 
Original 
1/8/64 
OPERATING INSTRUC'Ig3NS IN TAPE MODE 
Threading tape reader : 
To thread a tape through the read head, rais.e.6he 
Ifft  I lever handle. 
capstan is clear. Lay the tape across the capstan 
so that the pins project through the sprocketholes. 
While holding the tape in position on the capstan, push 
the l i f t  lever down until the lever locks. 
tion concerning the Reader is contained in the . u y  Reader 
manual Model 424 D-1066. 
This raises the read head so the 
Further informa- 
On the three control panels.place S4 in the REMOTE 
position. 
On the MODE PANEL place the MODE SELECTOR switch 
in the TAPE position. 
Turn all power switches to their "ON" position. 
The program is started by pressing the PROGRAM FORWARD 
switch. 
The tape reader may be reversed a t  any time by pressing 
the PROGRAM REFER56 huttan. 
The Single Step or the RAPID TRAVERSE operations can 
be utilized only when the reader is in the STOP condition. 
i. e. RED STOP light must be lit. 
" 
Issue: 
Date: 
5.8 
5.9 
Original 
1/8/64 
MT- 8103 
Page 0. 
The tape reader may be programmed so that the unit 
wil l  automatically reverse. 
a hole in channel 7 on the tape. 
This is done by punching 
The reader may also be programmed to automatically 
stop. This is done by punching holes in both channel 7 and 8. 
Figure 3 indicates the numbering of-the channel as 
referenced by the sprocket holes: 
3 O  
4 0  1 
Channel 
5 
4 
3 
2 
1 
6 
7 
8 
Figure 3 
Description 
Drives inner gimbal CCW 
Drives inner gimbal C W  
Drives middle gimbal CCW 
Drives middle gimbal CW 
Drives outer gimbal CCW 
Drives outer gimbal CW 
Tape drive reverses direction 
When punched simultaneously with #7# stops. 
Issue: Original MT- 8103 
Date: 1/8/64 Page 9 .  
6.0 OPERATING INSTRUCTIONS IN THE GSP MODE 
6.1 The following instructions apply whether the Guidance 
Signal Processor o r  the G. S. P. simulator is used. 
Only the correct cable must be connected to the Mode 
panel as directed by X1837978. 
6.2  Switches 54 (INTERNAL - REMOTE) on the Control 
panels shall be placed in the REMOTE position. 
All  the power switches on the three axis Test Stand 
console shall placed in the l'ON'' position. 
6.3 The power switches on the Mode should be in "ON" position. 
6.4  T b r 0 - p  the MODE SELECTOR to GSP. The system is 
now prepared to react to the command signals of the 
GSP. 
6. 5 If  the Roll axis is driven into interlock while in the GSP 
mode, throw the MODE-SELECTOR switch to OFF. After 
throwing the REMOTE-INTERNAL switches on the Control 
panels to INTERNAL, bring the gimbals out of interlock 
by the method outlined in MT-1166 and drive the gimbals 
back to the zero position. The GSP simulator should be 
brought to zero and the GSP program be started again if  it 
isdesired to continue in the GSP mode. 
Issue: Original 
Date: 1/8/64 
MT- 8103 
Page 10 
7.0 Shut down procedure for both Modes. 
7 .1  Throw MODE SELECTOR switch to "OFF". 
7.2 Throw all power switches on Mode Panel to OFF. 
7.3 Throw al l  REMOTE-INTERNAL switches on the 
Control panels to INTERNAL. 
7 . 4  All power switches on the Power panels and Service. 
Panel placed in the OFF position, 
n-rs 
. 
L 
FIGURE 2 
b4-26 Page 14 


Remote programmable position controller final report, may 1963 - feb. 1964

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