LCR 93 InstallationManual

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ATTITUDE AND HEADING REFERENCE SYSTEM (AHRS)
LCR-93 PART NO. 142185
INSTALLATION / MAINTENANCE INSTRUCTION
Dec 2001
LITEF DOCUMENT NO. 142185-0000-840
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ATTITUDE AND HEADING REFERENCE SYSTEM (AHRS)
LCR-93 PART NO. 142185
Dec 2001
LITEF DOCUMENT NO. 142185-0000-840
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LITEF GmbH D4856 Loerracher Str. 18 D-79115 Freiburg Germany Tel.: ++49 761 49010
ATTITUDE AND HEADING REFERENCE SYSTEM
LCR-93 PART No. 142185
Dec 2001
E 2001 LITEF GmbH All rights reserved, including the right to copy, distribute and translate. No part of this document may be reproduced without the express prior written consent of LITEF, not even for archive purposes and e.g may not be made use of, reproduced or disseminated by use of electronic means.
LITEF DOCUMENT No: 142185-0000-840
TP1 Dec 2001
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INSTALLATION / MAINTENANCE INSTRUCTION 142185
General
The LCR-93 Attitude and Heading Reference System (AHRS) is an all attitude inertial sensor system which provides aircraft attitude, heading and flight dynamics information to display, flight control, weather radar antenna platform and other aircraft systems and instruments. The LCR-93 is mechanized as a strapdown inertial measurement system using fibre optic rate gyros (FOGs) and micromechanical accelerometers which are strapped down to the principal aircraft axes. A digital computer mathematically integrates the rate data to obtain heading, pitch and roll. A Magnetic Sensor Unit (MSU) provides the long term heading reference. True Air Speed (TAS) input from an external Digital Air Data System (DADS) is used to improve the attitude performance. In addition, the LCR-93 is able to provide Inertial Altitude and Vertical Speed if augmented by Pressure Altitude from the external DADS. The LCR-93 P/N 142185-XX10 uses the data from a GPS receiver (via ARINC 429 Interface) in combination with air data to provide the output data to drive a Head Up Display (HUD) with speed vector indications. NOTE In case of conflict LITEF LCR-93 System Specification No. 142185-0000-312 has preference. This document may be altered by LITEFs discretion. 2 How important information is shown
Warnings, Caution and Notes used in this introduction emphasize the following important information: WARNING An operation or maintenance procedure, practice, condition, or statement which, if not strictly observed, could result in injury or death to personnel. CAUTION An operation or maintenance procedure, practice, condition, or statement which, if not strictly observed, could result in damage or destruction of equipment or loss of equipment effectiveness. NOTE An essential operating or maintenance procedure, condition, or statement which makes the job easier or directs a user through a procedure.
INTRO Page 1 Dec 2001
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MSU CalPROM
AHRU
MSU (FLUX-VALVE)
OUTLINE DRAWINGS NOT TO SCALE
CCU (Optional)
LCR93 Attitude and Heading Reference System Frontispiece

INTRO Page 2 Dec 2001
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THE LCR-93 INSTALLATION / MAINTENANCE INSTRUCTION IS COMPILED OF FIVE MAIN SECTIONS, NAMELY :
SECTION 1
installation instructions
SECTION 2
description and operation
SECTION 3
testing and troubleshooting
SECTION 4
removal and installation
SECTION 5
storage / packaging / transportation
AND WITH EACH SECTION BEING DIVIDED INTO PARAGRAPHS AND SUB-PARAGRAPHS For a more comprehensive listing refer to the table of contents
PREFACE Page1/2 Dec 2001
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FOREWORD
LITEF LCR-93 Level 1 Test Set The interface may be operated using the LITEF LCR-93 Level 1 Test Set 309444-0000. The Level 1 Test Set provides the infrastructure required to perform an access to the LCR BITE history and to the AHRS mounting misalignment correction parameters. In other words it is a tool for storing the BITE records into file and is then able to display on a screen the BITE history information. It also enables a stimulation of the AHRS analogue interfaces to be performed (only -2XXX and -3XXX versions), and also allows access to the acceleration monitor. ITEM LIST The Level 1 Test Set (see Figure 1) consists of the following LITEF and commercial parts. To operate the Level 1 Test Set an IBM compatible PC is required as stated under Hardware requirements. LITEF Parts P/N P/N P/N P/N P/N 309344-0000 309345-0000 309343-0000 309446-0000 309356-0100-701 J1 Adapter J4 Adapter J5 Adapter Serial Interface Cable Level 1 Test Software Disk
Commercial Parts P/N P/N 450910-4535 450910-3173 RS232 - RS422 Converter DB9S - DB25P RS232 - Adapter
Hardware requirements To operate the Level 1 Test Set the following hardware is required : IBM compatible PC/AT (486DX33 or higher recommended) VGA Graphics Adapter 1 Serial Communication Adapter (COM1:) Hard disk with at least 1 MByte free disk space 550 kByte of available (free) Base Memory DOS 5.0 or higher Applicable Document P/N 309356-0100-311 User Manual Level 1 Test Set for LCR-93
NOTE At various parts of this IMI a NOTE is inserted which states that the interface may be operated using the LITEF LCR-93 Level 1 Test Set 309444-0000. The details in this FOREWORD are all applicable to the NOTE in the text.
FOREWORD Page 1 Dec 2001 Mai 2001
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To aircraft J4 connector
Adapter to PC/Laptop comm port
To aircraft J1 connector
calProm
J5 adapter J1 adapter J4 adapter
Figure 1
LCR-93 Level 1 Test Set

FOREWORD Page 2 Dec 2001
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RECORD OF REVISIONS
REV NO. ISSUE DATE DATE INSERTED BY REV NO. ISSUE DATE DATE INSERTED BY
ROR Page 1 Dec 2001
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RECORD OF TEMPORARY REVISIONS

TEMPORARY REV NO. PAGE NO. ISSUE DATE BY DATE REMOVED BY
RTR Page 1 Dec 2001
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SERVICE BULLETIN LIST

SERVICE BULLETIN NO. SUBJECT MANUAL REVISION NO. MANUAL REVISION DATE
SBL Page 1 Page 1/2 Dec 2001
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LIST OF EFFECTIVE PAGES SECTION Title Page Introduction Preface Foreword Record of Revisions Record of Temporary Revisions Service Bulletin List List of Effective Pages List of Illustrations List of Tables Table of Contents List of Abbreviations Title Page, Section 1 Installation Instructions Title Page, Section 2 Description and Operation Title Page, Section 3 Testing and Troubleshooting Title Page, Section 4 Removal and Installation Title Page, Section 5 Storage/Packaging/Transportation 501 through 506 401 through 404 301 through 326 201 through 212 101 through 160 1 through 2 1/2 1 through 2 1/2 1/2 1/2 1/2 1/2 1 through 2 1 through 4 1 through 2 PAGE DATE Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001 Dec 2001
LEP Page 1/2 Dec 2001
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LIST OF ILLUSTRATIONS
No.
INTRO FOREWORD
TITLE LCR-93 Attitude and Heading Reference System Frontispiece LCR-93 Level 1 Test Set SECTION 1
PAGE 2 3
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Interface Diagram LCR-93 Interface Diagram LCR-93 Examples of a typical wiring of a discrete output, e.g. AHRU Warn AHRU Outline Front View of AHRU showing connectors KMT 112 MSU Outline and Mounting Diagram FX-120/FX-600/FV-1 MSU Outline and Mounting Diagram FX-125/FX-220 MSU Outline and Mounting Diagram CCU Outline and Mounting Diagram Tray Outline - Without Fan Tray Outline - With Fan CalPROM Outline AHRS Mounting drawing Interconnection Diagram CCU, LCR-93 Interconnection Diagram for Control Discretes Shield termination of connectors using Backshall/Strain Relief method SECTION 3
107 108 118 138 139 140 141 142 143 144 146 148 149 157 158 159
Typical LCR-93 AHRS Installation SECTION 4
306
1 2
Installation of the AHRU Removal of the AHRU SECTION 5
403 404
1 2 3
Packaging of Electrostatic Discharge Sensitive Devices Electrostatic Discharge Sensitive Device Labels (typical examples) Location of Identification Markings
503 504 505

LOI Page 1 Page 1/2 Dec 2001
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LIST OF TABLES
No. 1 2 3 4 5 6 7 8 8a 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 TITLE SECTION 1 Power Consumption Connectors Configuration Azimuth Mounting Discretes DG-Mode Logic Selection Discretes Source/Destination Discretes Analog Yaw Rate Scale Factor Discretes ARINC Turn Rate Select Control Discretes DADS Select Digital Air Data Input GPS Input ARINC 429, Attachment 9 Flux Valve Input Wiring Discrete Flag Warn Signals (Power Supply Module) Discrete Flag Warn Signals (Synchro Module) Discrete Flag Warn Signals (Interface Module) Digital Binary Word Outputs Digital Binary Word Output (P/N -XX10) (12) Maintenance Discrete Word Output Digital BCD Outputs Discrete Word 1 (Label 270) Discrete Word 2 (Label 271) Discrete Word 3 (Label 272) Discrete Word 4 (Label 273) Discrete Word 5 (Label 274) Input Discrete Word 1 (Label 303) Input Discrete Word 2 (Label 304) Synchro Outputs 2-Wire AC Outputs Analog Self-Test Outputs Discrete Self-Test Outputs System Wiring (6 sheets) AHRU/MSU Wiring 104 105 109 109 109 110 110 111 112 113 114 115 116 116 117 119 120 122 123 123 124 125 125 125 126 126 127 128 130 130 151 157
LOT Page 1 Dec 2001
PAGE
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No. 1 2 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
TITLE SECTION 2 RS-422 Maintenance Data Transmission Frame (2 sheets) DITS Maintenance Data Transmission Frame SECTION 3 Monitoring Summary for the Processor Module Monitoring Summary for the Sensor Tests Monitoring Summary for the Sensor Tests (continued) Monitoring Summary for the Power Supply Module Monitoring Summary for the Interface Module Monitoring Summary for the Synchro Module Monitoring Summary for the various Modes Failure annunciation on Digital Output Failure annunciation on Digital Output (continued) SSM indications depending on System Mode SSM indications depending on System Mode (continued) Required Input Availability for Normal SSM Output Required Input Availability for Normal SSM Output (continued) Maintenance Discrete Outputs (Label 350) Maintenance Discrete Outputs (Label 351) Maintenance Discrete Outputs (Label 352) Maintenance Discrete Outputs (Label 353) Configuration Discrete Outputs (Label 155)
PAGE 208 210 308 309 310 311 312 313 314 316 317 318 319 320 321 322 323 324 325 326
LOT Page 2 Dec 2001
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TABLE OF CONTENTS
PARAGRAPH SECTION 1 INSTALLATION INSTRUCTIONS 1 INSTALLATION DATA LRC-93 configuration list Version Description System Parts Dimensions and Weight Location Power Connectors 2 3 WIRING PROGRAM PINS and OTHER DISCRETES Program Pins Azimuth Mounting Discrete DG-Mode Logic Select Source Destination Identifier Analog Yaw Rate Scale Factor Selection ARINC Turn Rate Select Parity Control Discretes MSU Calibration Control 4 SIGNAL INPUTS Digital Inputs Analog Inputs 5 6 DISCRETE FLAG WARN SIGNALS DIGITAL OUTPUTS ARINC 429 Outputs Bit Assignment in Discrete Words RS-422 Outputs 7 ANALOG OUTPUTS Synchro Outputs 2-Wire AC Outputs 2-Wire DC Outputs 101 101 102 103 104 104 104 105 105 106 106 109 109 109 110 110 110 111 111 112 112 114 115 117 117 122 125 126 126 127 127
TOC Page 1 Dec 2001
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PARAGRAPH 8 SELF-TEST OUTPUTS Self-Test on Ground Normal Acceleration Test Output COOLING REQUIREMENTS AHRU ALIGNMENT REQUIREMENTS Installation Tray Mounting Recommendation Mounting Screws Misalignment Correction Mounting Tolerance FLUX VALVE (MSU) CALIBRATION General MSU Calibration Procedure Index Error Compensation Procedure MSU Calibration Procedure/Checklist OUTLINE DRAWINGS AHRU AHRU showing connectors MSU, Bendix/King MSU, Honeywell, TECSTAR MSU, Honeywell Compass Control Unit Tray, without Fan Tray, with Fan CalPROM AHRU Mounting SYSTEM WIRING J1 (Power Supply) Electrical Pin Assignment J2 (Fan Supply) Electrical Pin Assignment J3 (Synchro) Electrical Pin Assignment (only AHRU / P/N 142185-2XXX) J3 (Synchro) Electrical Pin Assignment (only AHRU / P/N 142185-3XXX) J4 (I/O) Electrical Pin Assignment J5 (CalPROM) Electrical Pin Assignment
PAGE 129 129 130 130 130 130 130 131 131 131 132 132 132 134 135 136 137 138 139 140 141 142 143 145 147 149 150 151 151 152 152 154 156
9 10
11
12
13
TOC Page 2 Dec 2001
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PARAGRAPH SECTION 2 DESCRIPTION AND OPERATION 1 2 3 4 GENERAL PURPOSE OF EQUIPMENT LEADING PARTICULARS DESCRIPTION Location of Units in Aircraft Outline and Mounting Drawings AHRU MSU CCU (optional) 5 MODES OF OPERATION Alignment Initialization Alignment Phase 1 Alignment Phase 2 Motion Conditions during Alignment Estimation of Earth Rate and Gyro Drift Operational Mode Normal sub-mode Basic sub-mode MAG sub-mode DG sub-mode MSU Calibration Mode Entering and Leaving MSU Cal Mode Flags and Heading Outputs Data Collection Calculation of Coefficients Index Error Compensation Self-test Data Mode Maintenance Mode Failure Logging and Malfunction Storage Elapsed Time Counter Output of the Failure History and Elapsed Time
PAGE
201 201 201 201 201 201 201 201 202 202 202 202 203 203 203 203 204 204 204 204 204 204 204 205 205 205 205 206 206 206 206 207
TOC Page 3 Dec 2001
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PARAGRAPH Maintenance Output via DITS 6 POWER INTERRUPTIONS General Short Power Interrupt Long Power Interrupt SECTION 3 TESTING AND TROUBLESHOOTING 1 GENERAL Initial Installation Check Initial AHRS and Indicator Checks Trouble Shoot AHRS Problems SYSTEM INTEGRITY General AHRS Fault Monitoring Summary DITS Status Indication 3 MAINTENANCE DISCRETE OUTPUTS
PAGE 210 211 211 211 211
301 301 303 304 307 307 307 316 322
SECTION 4 REMOVAL / INSTALLATION 1 2 3 GENERAL REMOVAL OF AHRU INSTALLATION OF AHRU SECTION 5 STORAGE / PACKAGING / TRANSPORTATION 1 2 3 4 GENERAL STORAGE PACKAGING TRANSPORTATION 501 501 501 502 401 401 401
TOC Page 4 Dec 2001
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LIST OF ABBREVIATIONS
The following are a list of abbreviations that are used in the text of this manual: AC Alternating current A/C Aircraft ADC Analog Digital Converter AF Audio Frequency AHRS Attitude and Heading Reference System AHRU Attitude and Heading Reference Unit ANNUN Annunciator ARINC AERONAUTICAL RADIO, INCORPORATED Assy Assembly ATT Attitude AUX Auxiliary BCD Binary-coded decimal BIT Built-In Test CalPROM Calibration PROM CCU Compass Control Unit DAC Digital Analog Converter DADS Digital Air Data System DC Direct Current Deg Degrees DG Directional Gyro DITS Digital Information Transfer System EEPROM Electrically Erasable Programmable Read Only Memory ESD Electrostatic Discharge FOG Fibre Optic Gyro GND Ground GPS Global Positioning System HDG Heading INTRO Introduction HIL Hardware-In-the-Loop (test method) I/F Interface kts Knots LEP List of Effective Pages LOI List of Illustrations LOT List of Tables MAG Magnetic
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LIST OF ABBREVIATIONS (continued)

MSU MTBF MUX N/A NCD RAM PDOP P/N PROM REF REV RF ROR RTCA RTR S/N SAV SBL SDI SGS SSM TOC TP TR TSO TAS UUT YR Magnetic Sensor Unit Mean Time Between Failures Muliplexer Not Applicable No Computed Data (ARINC 429) Random Access Memory Position Dilution of Precision Part Number Programmable Read Only Memory Reference Revision Radio Frequency Record of Revision Radio Technical Commission for AERONAUTICS Record of Temporary Revision Serial Number Standard Applied Voltage Service Bulletin List Source Destination Identifier (ARINC 429) Standard Ground Signal Sign Status Matrix (ARINC 429) Table of Contents Title Page Turn Rate Technical Standard Order True Air Speed Unit Under Test Yaw Rate
Page 2 Dec 2001
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SECTION 1
INSTALLATION INSTRUCTIONS

TITLE PAGE SECTION 1 Dec 2001
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Installation Data
This section contains information that will aid in the installation of the Attitude and Heading Reference System (AHRS, frontispiece). 1.1
LCR-93 Configuration list Version Standard

P/N 142185-1000 P/N 142185-1100 P/N 142185-1102 P/N 142185-1105 P/N 142185-1120 P/N 142185-1122 P/N 142185-2000 P/N 142185-3000 P/N 142185-3100 P/N 142185-3101 P/N 142185-3102 P/N 142185-3200
Speed Vector
P/N 142185-1010 P/N 142185-1110 n/a n/a n/a n/a P/N 142185-2010 P/N 142185-3010 P/N 142185-3110 n/a n/a P/N 142185-3210

SECTION 1 Page 101 Dec 2001
1.2
142185 Feature
-1110
Partnumber
-3102 -1105 -1102 -1100 -3110 X X X X X X

Bendix King flux valve interface Honeywell / TECSTAR interface Speed vector output Synchro IF with 1 HDG reference Synchro IF with 2 HDG reference 167 mV/deg two wire AC output BASIC mode discrete Normal acceleration DC output test Common yaw / turn rate flag
-3101
-3210
-3200
-3100
-3010
-2010
-1010
-3000
-2000
-1000
-1122 X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X X
Body rate anti aliasing filter manual DADS selection automatic DADS speed selection Output Label 155
-1120 X X X X X X X X X
Ground / Air discrete inverted Label 350 bit assignment changed RTCA DO-160C / DO-178 Level 1 RTCA DO-160D / DO-178B Level
Version Description
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X X
X X
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1.3
System Parts
Unit Magnetic Sensor Units (MSU) * ** to be ordered directly from Bendix King Bendix-King to be ordered directly from Honeywell to be ordered directly from TECSTAR
Part No. P/N 1071-1052-00* P/N 620359** P/N 656520** P/N 2594484** P/N 7010133** P/N 2961182-1*** Bendix/King KMT 112 (flux valve) Honeywell FX-120 (flux valve) Honeywell FX-125 (flux valve) Honeywell FX-220 (flux valve) Honeywell FX-600 (flux valve) TECSTAR FV-1 (flux valve)
***
MSU Calibration PROM Installation Kit (AHRU with Synchro Interface) (Mating Connector Set) Installation Kit (AHRU without Synchro Interface) (Mating Connector Set) AHRU Mounting Tray
P/N 124282-0000 P/N 124284-0000 (metallized plastic housings)
P/N 124284-2100 P/N 124285-0000
(full metallic housings) (metallized plastic housings)
P/N 124285-2100 P/N 124260-0000 P/N 144201-0000 P/N 140691-0000 P/N 144200-0000
(full metallic housings) Standard Tray (excluding Fan) Ruggedized Tray (excluding Fan) Standard Tray (including Fan) Ruggedized Tray (including Fan) (5V Lighting, black panel) (28V Lighting, black panel) (5V Lighting, grey panel) (28V Lighting, grey panel)
Compass Controller Unit (CCU, optional)
P/N 140855-0010 P/N 140855-0020 P/N 140855-0030 P/N 140855-0040
Installation Kit for CCU if fitted Level 1 Test Set
P/N 141468-0000 P/N 309444-0000

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1.4
Dimensions and Weight Dimensions Configuration

with synchro interface without synchro interface
Weight
less than 2.60 kg less than 2.20 kg KMT112 FX-120 FX-125 FX-220 FX-600 FV-1 0.4 kg max 0.136 kg 0.680 kg 0.680 kg 0.680 kg 0.680 kg 0.680 kg
AHRU, see Figs. 4 and 5
MSU, see Figs. 6 to 8 incl.
CCU, see Fig. 9 Mounting Tray standard with cooling fan without cooling fan with cooling fan without cooling fan
less than 0.50 kg less than 0.35 kg less than 0.65 kg less than 0.50 kg less than 0.05 kg
Mounting Tray ruggedized
MSU CalPROM, see Fig.12
1.5
Location
The AHRU is generally located in the aircrafts equipment bay electronics rack, and its major axes must be parallel or perpendicular to the major axes of the aircraft. The CCU is installed on a panel in the cockpit. The MSU should be located as far as possible from all sources of local magnetic disturbances such as engines, electrical cables, or radio equipment. A wing tip or tail section location will usually be satisfactory. 1.6 Power
The AHRU Power is designed to operate from either one of two independent 28 VDC input power supplies. The power consumption of the AHRU is listed below. The maximum power consumption of the optional cooling fan is less than 3 Watts (which is not included in table 1 below). Maximum nominal current is 2.5 amperes (at 13 volts). At power on, surge currents can be as high as 10A for 10ms.
Configuration Power Consumption nom. P/N 142185-1XXX (without Synchro Interface ) P/N 142185-2XXX, 3XXX (with Synchro Interface) 25 W 40 W max. 30 W 45 W
Table 1 Power Consumption

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The AHRU System Power : The AHRU provides following System power : +24 +28 VDC VDC cooling fan power CCU power
10.8 - 40 VRMS, 400 Hz flux valve excitation CAUTION These outputs may not be used for other than the intended purpose without the written consent of LITEF engineering department. 1.7 Connectors
The AHRU external connectors are Sub-Min-D type with metric M3 screw lock and having the following pin complements : Connector J1 J2 J3 J4 J5 Function Power Supply Fan Supply Synchro Output Input/Output MSU CalPROM Pins 15 9 44 62 15 Connector type M24308 / 4-2 not required* M24308 / 4-13 M24308 / 4-14 not required*
Table 2 Connectors Configuration

* No wiring is required for connector J2 (Fan Supply), and for connector J5 (CalProm), because the mating connectors are integral parts of the Mounting Tray with Fan and the CalProm itself. If a Fan is not used a plastic cap should be installed on connector J2. The metal block attached to the end of the CalProm retaining cable should be permanently affixed to the Mounting Tray with the two machine screws provided.
The mating connectors with metric (M3) screw lock shall have metal or metallized plastic backshells. The MSU connector is 030-2189-00 for the KMT 112 flux valve. The CCU connector is M83723/72R1415N. 1.8 Bonding
The measured bonding resistance at 1A between the AHRU and the installation tray shall be less than 10 mOhm. 2 Wiring
Wiring details are provided in Table 30 at the end of this section.

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3 3.1
Program Pins and Other Discretes Program Pins
There are ten AHRU connector pins allocated for external program control as follows:
Pin J4-32 J4-14 J4-35 J4-34 J4-54 J4-12 J4-53 J4-11 J4-17 J4-13
Function Program Pin Common Mounting Position No. 1 Mounting Position No. 2 SDI 1 SDI 2 DG-Mode Logic Select Yaw Rate Scale Factor Select No. 1 Yaw Rate Scale Factor Select No. 2 Turn Rate Select Parity (odd)
Program Pin Common is grounded inside the AHRU. External jumpers from the other program pins to Program Pin Common or to 28 VDC for ARINC Turn Rate Select respectively, allow the AHRU to be programmed to get various installations and customized functions as described on pages 109 and 110. (Program Pin Common should not be grounded to aircraft system ground).

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Aux. Power Annun.
Spare
Basic Mode Annun.
+28Vdc
Figure 1 Interface Diagram LCR-93 P/N 142185-1XXX

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(*1) Aux. Power Annun.
(*1) Spare
(*2)
+28Vdc
Figure 2 Interface Diagram LCR-93 P/N 142185-2XXX / -3XXX

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3.2
Azimuth Mounting Discretes
Azimuth mounting orientation in the A/C is identified by Mounting Position No.1 and No.2 Pins. Program Pins Mount Pos. 1 (J4-14) Mount Pos. 2 (J4-35) Plug Fwd. open open Plug Aft. jump to common open Plug Rt. Wg. open jump to common Plug Lt. Wg. jump to common jump to common
Table 3 3.3 DG-Mode Logic Select
Azimuth Mounting Discretes
The DG-Mode Logic Selection discrete is applied to the program pin (J4-12). This results in the DG/MAG Mode shown under the derived input control discrete. Program Pin J4-12 DG-Mode Logic Select open jump to common DG/MAG Mode J4-57 Input = 28 VDC DG-Mode Slaved Mode DG/MAG Mode J4-57 Input = open Slaved Mode DG-Mode
Table 4 DG-Mode Logic Selection Discretes 3.4 Source Destination Identifier N/A open open System No. 1 jump to common open System No. 2 open System No. 3 jump to common
Program Pins SDI 1 (J4-34) SDI 1 (J4-54)
jump to common jump to common
Table 5 Source/Destination Discretes

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3.5
Analog Yaw Rate Scale Factor Selection
Only applicable to PNs -XX0X and -XX1X. Program Pins YR-Scale 1 (J4-53) YR-Scale 2 (J4-11) 200 mV/_/s open open 100 mV/_/s open jump to common 333 mV/_/s 666 mV/_/s
jump to common jump to common open jump to common
Table 6 Analog Yaw Rate Scale Factor Discretes 3.6 ARINC Turn Rate Select
Output of Turn Rate at ARINC label 330 instead of Yaw Rate is selected by J4-17. For calculation and bandwidth of the Turn Rate output refer to paragraph 7.3 (page 127). Program Pin J4-17 open +28 VDC Table 7 ARINC Turn Rate Select 3.7 Parity ARINC Label 330 Yaw Rate Turn Rate
Parity check of Discrete Input Program Pins: Parity = Mount Pos. 1 + Mount Pos. 2 + DG-Mode Logic Select + ARINC Turn Rate Select + Yaw Rate Scale 1 + Yaw Rate Scale 2 (not applicable to P/N 142185-XX2X) + Parity Pin = odd If the number of selected (i.e. grounded or set to 28 VDC respectively) pins is even, then the parity pin J4-13 has to be grounded, in order to get an odd parity.

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3.8
Control Discretes
There are AHRU connector pins allocated for control discretes as follows: Connector Pin J5-08 J5-07 J5-09 J5-10 J4-55 J4-33 J4-57 J4-16 J4-58 J4-38 J4-36 J4-37 Control Discrete Cal. progr. load enable Program load enable HIL test enable Time tag reset Selftest data enable Maintenance data enable DG / MAG mode select Slew Left* Slew Right* MSU calibration Discrete Description For lab test only (TTL logic) For lab test only (TTL logic) For lab test only (TTL logic) For lab test only (TTL logic) GND = Test data enable GND = Maintenance data enable see Table 4 Vsav** = Slew Left Platform Hdg (CCW) Vsav** = Slew Right Platform Hdg (CW) Vsav** = MSU calibration enable
Ground Discrete Reference Reference for Standard Applied Voltage (SAV) input discretes. (Internally connected to J1-15) On ground/in air Logic ( weight on wheels ) P/N -XXX0, XXX1 GND = in air Open = on ground P/N -XXX2 GND = on ground Open = in air
J3-35 J3-36
Signal reference Normal accel. test enable
P/N 142185-XXX1 reference for J3-36 input discrete (-15...-5)Vdc = Normal acceleration test enabled (-2....0)Vdc = Normal acceleration test disabled P/N 142185-XX2X See Table 8a See Table 8a Table 8 Control Discretes
J4-53 J4-11
DADS select 1 DADS select 2
* **
Slew function is enabled after alignment is finished. Vsav Input Range : 18.5 - 36.0 VDC In DG-Mode initial slew rate is 2 _/s , after 3 secs, 8 _/s. In Slave Mode platform heading will be set to MSU heading input.

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Function Program Pin Automatic DADS select 1 (J4-53) DADS select 2 (J4-11) open open DADS No. 1 open jump to common DADS No. 2 No DADS / BASIC
jump to common jump to common open jump to common
Table 8a DADS Select
3.9
MSU Calibration Control
The MSU calibration may be initiated manually either through the MSU calibration control switch, located on the front of the AHRU, or by the MSU calibration control discrete J4-38. The MSU calibration control switch is mechanically locked against accidental operation.

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4 4.1
Signal Inputs Digital Inputs
ARINC 429 Inputs The AHRU provides two independent ARINC 429 input interfaces. These interfaces are used for digital air data input and GPS data input. Both inputs run at same speed. Possible data bus speeds are as follows: Part Number 142185-XX0X 142185-XX1X 142185-XX2X Bus Speed Low Low High or Low
Digital Air Data Input AHRUs with P/N -XX0X and -XX2X provide the capability to process data of one or two Digital Air Data Systems (DADS). In case of two DADS they have to run at the same speed. AHRUs with P/N -XX2X shall determine the DADS bus speed automatically during the start up period. If two DADS are connected to the AHRU, input data channel selection is performed automatically. After power on the initial air data source of the AHRU will be the DADS supplying valid data. Input 1 is prefered. The decision for the labels used is independent of the input data channel. A change will only be performed, if the selected DADS becomes invalid or unavailable and the other DADS is valid. AHRU with P/N -XX2X shall additionally accept a manual DADS selection from two input discretes. The automatic channel selection remains the default mode. The minimum accuracy requirements of the DADS inputs are stated in ARINC Characteristic 706-4 Mark 5 Subsonic Air Data system. The following labels are utilized by the AHRU : Label ( octal ) BNR 203 210 Parameter Min. Update Rate ( Hz ) 8 8 Significant Bits Max. Range Approx. Resolution 1.0 0.0625 Units Pos. sense
Altitude True Airspeed
17 15
131071 2047.93
ft kts
up forward
Table 9 Digital Air Data Input AHRUs with P/N -XX10 shall accept DADS input data on ARINC Bus No. 1 only.

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GPS Data Input AHRUs with P/N -XX10 provide the capability to process data of one GPS receiver connected to ARINC Input Bus No. 2. The minimum accuracy requirements of the GPS receiver are stated in ARINC Characteristic 743 Airborne Global Positioning System receiver. The AHRU does not use the labels specified in ARINC 743, but accepts labels which are specified by ARINC 429, Attachment 9.
Label (octal) BNR 147 310 311 312 313 Parameter Magneti Variation Latitude Longitude Groundspeed Track Angle True Signal Format BNR BNR BNR BNR BNR Min. Significant Update Bits Rate (Hz) 1 1 1 1 1 12 20 20 15 15 Max. Range "180 "180 "180 4,096.0 "180 Approx. Resolution 0.044 0.000172 0.000172 0.125 0.0055 Units Pos. sense CW-N N E always positive CW-N
deg deg deg kts deg
Table 10 GPS Input ARINC 429, Attachment 9. RS-422 Input The system provides two independent RS-422 input interfaces. Interface 1 is used for test and calibration purposes. Interface 2 is a spare input. Hardware provisions are made to operate these interfaces as RS-485 bus interfaces. NOTE The interface may be operated using the LITEF LCR-93 Level 1 Test Set 309444. Test and Calibration Input The Test and Calibration Input allows command input and calibration parameter / program download. The following data transmission parametrers are used : Transmission Rate: Data: Control: 9600 Baud 8 Data Bits 1 Start Bit 1 Parity Bit (odd) 2 Stop Bits

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4.2
Analog Inputs
Magnetic Heading Input For heading augmentation the AHRU requires a magnetic heading input directly from a flux valve (MSU). Depending on the system configuration (refer to paragraph 1) the AHRU interface accepts different types of flux valves (refer to table 11). For correct operation the MSU has to utilize the MSU excitation provided by the AHRU. AHRU Input Connector Pin Bendix / King KMT 112 Honeywell / FX-Series TECSTAR (*) A B C D E F
J4-09 J4-51 J4-30 J4-02 J4-22 Not connected
D A B H E
Table 11 Flux Valve Input Wiring NOTE (*) The AHRU is designed for operation with flux valves generating 800Hz output voltages in range of 900 to 1800 mV in a standard magnetic field consisting of a horizontal field strength of 18,000 1,000 nT and a vertical strength of 54,000 2,000 nT. MSU Reference Input/Output The input MSU REF. IN (J4-60) has to be connected to MSU REF. OUT (J4-39) inside connector J4. AC Synchro Reference Input The AHRU requires the following 26 VRMS, 400 Hz reference signals : PNs 142185-2XXX Attitude Reference Heading 1 Reference PNs 142185-3XXX Attitude Reference Heading 1 and 2 References These signals are to be the same phase as the reference used by the connected analog indicator or control computer.

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Discrete Flag Warn Signals
The system discrete outputs are as shown in Tables 12, 13 and 14. The AHRU discrete outputs are relay contacts, which can switch resistive loads. The maximum current per contact is 110 mA. Discrete Power Supply Module AUX Power Annunciator J1-07/12 Contact closed (GND) = ON AUX Power Contact open = ON PRIM Power Pin Logic
Table 12 Discrete Flag Warn Signals (Power Supply Module)
Discrete Synchro Module Attitude Warn Heading Warn 1 Heading Warn 2 P/N 142185-3XX0, -3XX2 Turn Rate Warn P/N 142185-3101 Yaw/Turn Rate Warn P/N 142185-2XXX Yaw Rate Warn
Pin
Logic
J3-03/18 J3-17/32 J3-16/01 J302/31
Contact closed = Attitude valid Contact open = Attitude invalid Contact closed = Heading valid Contact open = Heading invalid Contact closed = Heading valid Contact open = Heading invalid Contact closed = Turn Rate valid Contact open = Turn Rate invalid Contact closed = Yaw/Turn Rate valid Contact open = Yaw/Turn Rate invalid Contact closed = Yaw Rate valid Contact open = Yaw Rate invalid
Table 13 Discrete Flag Warn Signals (Synchro Module)

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Discrete Interface Module AHRS Warn P/N 142185-3101 AHRS Warn Acceleration Monitor P/N 142185-3XXX Yaw Rate Warn P/N 142185-2XXX Turn Rate Warn P/N 142185-1XXX P/N 142185-3101 Basic Mode Annunciator Autopilot Heading Interlock *
Pin
Logic
J4-21/42 J4-15/42 J4-20/62 J4-41/61
Contact closed = AHRS valid Contact open = AHRS warning Contact closed = AHRS valid Contact open = AHRS warning Contact closed = ACC. limit exceeded Contact open = ACC. limit not exceeded Contact closed = Yaw Rate valid Contact open = Yaw Rate invalid Contact closed = Turn Rate valid Contact open = Turn Rate invalid Contact closed = Basic Mode Contact open = Normal Mode
J4-19/40
Contact closed = Autopilot Heading valid Contact open = Autopilot Heading invalid
Table 14 Discrete Flag Warn Signals (Interface Module) * The autopilot heading interlock contact is open when: heading is invalid the AHRS is switched from DG mode to MAG mode if the heading output is to be altered to an amount of more than 1 degree (contact is open for two seconds). - slew right or left function is selected : in DG mode : (contact is open for at least two seconds). in MAG mode : if the heading output is to be altered to an amount of more than 1 degree (contact is open for two seconds).

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Figure 3 Examples of a typical wiring of a discrete output, e.g. AHRS Warn
6 6.1
Digital Outputs ARINC 429 Outputs
The system provides three identical two-wire digital data output busses per ARINC 429-13, all of which include the binary and BCD data described as follows. The digital binary and discrete outputs are described in the following tables:

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Digital Binary and Discrete Outputs
Table 15 Digital Binary Word Outputs

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Table 16 Digital Binary Word Output (P/N -XX1X only) (12)

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Explanation to the numbers in brackets of Tables 15, and 16 All tolerances are "10% unless otherwise stated (1) (2) (3) (4) (5) (6) The specified accuracy will be achieved with all augmentation data available and valid (normal mode, except where noted). Accuracy specified with constant altitude input and filter at a steady state with no error assumed in air data input. Label 300 and 334 are the filtered and compensated magnetic sensor unit heading. The AHRS is capable of operating up to 600 deg/sec. The output is limited to "128 deg/sec. The AHRS is capable of operating up to 10g. The output is limited to"4g. The Rates, Accelerations, Inertial Altitude and Inertial Vertical Speed outputs are filtered with a 2nd order low pass filter. The total delay of these outputs including sampling, filtering (8 Hz) and computation is less than 50 ms. Turn Rate is calculated from the yaw rate and roll angle according to the following formula : Turn Rate = yaw rate / cos (roll angle) For roll angles exceeding 60 degrees, the roll angle is limited to 60 degrees. Independent of aircraft attitude 1.0g is subtracted from the measured acceleration. I.e. the levelled system outputs (1.0 - 1.0) g = 0.0g, a 60_ tilt results in (1.0 * cos 60_ - 1.0) g = (0.5 - 1.0) = -0.5 g . When aircraft is resting on the ground, output is to be zero. The Normal Acceleration at Label 301 is identical to Label 333 except the output is limited to "8g. After a short power interrupt label is NCD for 1 second when power returns. The labels in Table 16 are computed only if DADS and GPS inputs are available and the system is in MAG sub-mode (MSU is available). Data will be provided up to 30 seconds after loss of Augmentation data. All accuracies of GPS dependent output data are specified under the following conditions : GPS Receiver KLN-900 (Allied Signal) GPS PDOP : t3.0 2d-position (2dRMS) accuracy : 95 meters GPS velocity accuracy : 3.0 knots (95%) Magnetic variation accuracy : 0.5 degrees (95%) Minimum groundspeed : 60 knots Lever arm GPS antenna Vs. AHRU : t3 metres Data latencies : 3..5 seconds Specified accuracy within 1 minute after availability of augmentation data. In order to meet the specified accuracy after aerobatic flight it is necessary to fly the aircraft straight and level for 3 minutes.
(7)
(8)
(9) (10) (11) (12)

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(13) (14)
Accuracy specified for windspeed t10 knots The AHRS is capable of operating up to 600 degrees / second. The output is limited to "32 degrees / second.
(15)
Condition for DG Mode operation: DG heading is egual to magnetic heading.
NOTE (*) N/A except for bit 13 : Basic Mode (always set in Self Test) (mod 7) N/A except for bit 16 : selftest value of Autopilot Heading Interlock discrete (refer to Sub-section 8) (**) Only P/Ns -1105, -1120, -1122
Table 17 Maintenance Discrete Word Output

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Digital BCD Outputs The table below shows the digital BCD outputs of the AHRU. Label (octal) 046 377 Function Software Version Equipment Identification Table 18 Digital BCD Outputs Min. Update Rate (Hz) 16 16
6.2
Bit Assignment in Discrete Words
Tables 19, 20, 21, 22, 23, 24 and 25 show the Bit assignment in discrete words. Bit No. 1-8 9 - 10 11 12 13 14 15 16 17 18 19 20 - 29 30 - 31 32 Function 1 Label SDI Field Align Mode/Ready Not Used Normal/Basic Mode Magnetic Heading/DG Mode Attitude Autopilot Heading Interlock Not Used TAS AHRU Not Used SSM (always 0) Parity (odd) Bit Status 0
Aligning Normal Magnetic Heading Invalid Invalid Invalid Fault
Ready Basic DG Mode Valid Valid Valid Normal
Table 19 Discrete Word 1 (Label 270)

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Bit No. 1-8 9 - 10 11 12 13 14 15 16 17 18 - 20 21 22 - 25 26 - 29 30 -31 32 NOTES (1) (2) (*)
Function 1 Label SDI Field Acceleration Monitor Normal Acceleration Warn Fan Monitor Heading Warn Discrete Attitude Warn Discrete Yaw Rate Warn Discrete / Basic Mode Annunciator (1) AHRS Warn Discrete Main Mode (*) Turn Rate Warn Discrete / Yaw / Turn Rate Warn Discrete (2) Attitude Loop Status Heading Loop Status SSM (always 0) Parity (odd) for P/N 142185-1XXX and -3101 for P/N 142185-3101 only Main Mode Bit assignment Main Mode Bit 20 0 0 0 0 1 19 0 0 1 1 0 18 0 1 0 1 0 Initialize Static alignment Moving alignment Normal operation MSU calibration Status
Bit Status 0
Exceeded Warn Fail Warn Warn Warn Basic Mode Warn N/A Warn Warn N/A N/A
Normal Normal Normal Normal Normal Normal Normal Mode Normal Normal Normal
Table 20 Discrete Word 2 (Label 271)

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Bit No. 1-8 9 - 10 11 - 29 30 - 31 32
Function 1 Label SDI Field Used for test and maintenance SSM (always 0) Parity (odd) Table 21 Discrete Word 3 (Label 272)
Bit Status 0
Bit No. 1-8 9 - 10 11 - 29 30 - 31 32
Function 1 Label SDI Field Used for test and maintenance SSM (always 0) Parity (odd) Table 22 Discrete Word 4 (Label 273)
Bit Status 0
Bit No. 1-8 9 - 10 11 - 29 30 - 31 32
Function 1 Label SDI Field Used for test and maintenance SSM (always 0) Parity (odd)
Bit Status 0
Table 23 Discrete Word 5 (Label 274, P/N -XX1X only)

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Bit No. 1-8 9 - 10 11 - 13 14 15 16 17 18 19 20 21 22 23 - 29 30 - 31 32 NOTES (1)
Function Label SDI Not Used Mount Position No. 1 Mount Position No. 2 SDI 1 SDI 2 Parity DG Mode Logic Select Yaw Rate SF Select No. 1 DADS Select 1 (1) Yaw Rate SF Select No. 2 DADS Select 2 (1) ARINC Turn Rate Select Not Used SSM (always 0) Parity (odd)
Bit Status 1 0
Common Common Common Common Common Common Common Common Common Common +28 Vdc
Open Open Open Open Open Open Open Open Open Open Open
for P/N 142185-XX2X only Table 24 Input Discrete Word 1 (Label 303) Function Label SDI Not Used Calibrate Program Load Enable Program Load Enable Self-Test Data Enable Maintenance Data Enable HIL Test Enable DG/MAG Mode Select MSU Calibration Mode Enable Slew Left Slew Right On Ground/In Air Normal Acceleration Test Enable Not Used SSM (always 0) Parity (odd) Bit Status 1 0
Bit No No. 1-8 9 - 10 11 - 13 14 15 16 17 18 19 20 21 22 23 24 23 - 29 30 - 31 32
Enabled Enabled Enabled Enabled Enabled + 28V Enabled Enabled Enabled On GND Enabled
Disabled Disabled Disabled Disabled Disabled Open Disabled Disabled Disabled In Air Disabled
Table 25 Input Discrete Word 2 (Label 304)

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6.3
RS-422 Output
The system provides two independent RS-422 output interfaces. Interface 1 is used for maintenance data output and test and calibration purposes (Interface 2 is a spare output). Hardware provisions are made to operate these interfaces as RS-485 bus interfaces. Transmission Rate: Data: Control: 9600 Baud 8 Data Bits 1 Start Bit 1 Parity Bit (odd) 2 Stop Bits
NOTE The interface may be operated using the LITEF LCR-93 Level 1 Test Set 309444. 7 7.1 Analog Outputs Synchro Outputs
Table 26 Synchro Outputs

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7.2
2Wire AC Outputs
NOTE (1) Positive sense in phase with reference (2) P/N 142185-32XX only Table 27 2-Wire AC Outputs
7.3
2-Wire DC Outputs Mag Heading Slaving Error
P/N Format Scaling Factor Bandwidth Sense Range Accuracy Load
142185-1XXX, -2XXX, -3XXX 2-wire DC current "200 mA full scale "200 mA, equal to "15 deg Output is filtered with a 1st order low pass filter, time constant 2.0 sec. Platform Heading - Magnetic Sensor Input "15 deg "15% (fullscale) 1 kW

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Yaw Rate Output P/N Format 142185-2XXX, -3XXX 2-wire differential DC Output, "4 V full scale or : single DC Output, referenced to Yaw Rate RTN and1/2 scale factor 100, 200, 333 or 666 mV/deg/sec (depending on program pin setting, see Paragraph 3.1) for P/N -XX2X the scale factor is set to 100 mV/deg/sec output is filtered with an 8Hz 2nd order low pass filter. Output voltage is positive for CW rate as viewed from above. "40, "20, "12 or "6 deg/sec. "10 % (fullscale) 1 kW Turn Rate Output P/N Format 142185-2XXX, -3XXX 2-Wire differential DC Output "4 V full scale or : single DC Output, referenced to Turn Rate RTN and 1/2 scale factor 333mV/deg/sec Turn rate is calculated from yaw rate and roll angle according to the following formula: Turn rate = yaw rate / cos (roll angle) For roll angles exceeding 60 degrees, the roll angle is limited to 60 degrees. Output is filtered with a 1st order low pass filter, time constant 0.9 sec. Output voltage is positive for CW rate as viewed from above. "12 deg/sec "10% (fullscale) 1 kW Normal Acceleration P/N Format Scale Factor Bandwidth Sense Range Accuracy Load 142185-2XXX, -3XXX 2-Wire differential DC Output,"4 V full scale 383 mV/g Output is filtered with an 8Hz 2nd order low pass filter Output voltage is positive for acceleration in upward direction. Output on ground, no motion: +383 mV "10g "10 % (fullscale) 1 kW
Scale Factors Bandwidth Sense Range Accuracy Load
Scale Factor
Bandwidth Sense Range Accuracy Load

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Self-Test Outputs
Functional self-test can be activated when aircraft is on ground and the self-test data discrete is grounded. These values are latched for 1 second after the ground from J4-55 is removed. For digital self-test values refer to tables 15 and 16. The analog and discrete self-test outputs are values are listed in the tables which follow. 8.1 Self-Test On Ground Synchro Outputs Output Signal Heading 1 Heading 2 Pitch Roll Slaving Error Yaw Rate Turn Rate Normal Acceleration Selftest Value 15 deg 15 deg + 5 deg (Nose Up) +45 deg (Right Wing Down) DC Voltage Outputs +15 deg indicator right + 6 deg/sec + 3 deg/sec indicator right + 0.1g Table 28 Analog Self-Test Outputs ATT WARN HDG WARN 1 HDG WARN 2 AHRS WARN BASIC MODE ANNUNCIATOR (1) YAW RATE WARN (2) YAW/TURN RATE WARN (3) TURN RATE WARN ACCELERATION MONITOR AUTOPILOT HDG INTERLOCK (1) (2) (3) + + + + + + = + + + Attitude invalid Heading 1 invalid Heading 2 invalid AHRS valid ON BASIC set Yaw Rate invalid Yaw/Turn Rate invalid Turn Rate invalid Acceleration Limit exceeded Autopilot HDG invalid
for P/N 142185-1XXX and -3101 for P/N 142185-3XX0 and 2XXX for P/N 142185-3101 Table 29 Discrete Self-Test Outputs

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8.2
Normal Acceleration Test Output
In case of -15 Vdc < VNATIN < -15 Vdc on the Normal Acceleration Test Enable input, the Normal Acceleration DC Output is set to 0.0 Vdc = 0.0 g. This function is independent of the On Ground/In Air input discrete. Self-Test data output on ground supersedes the Normal Acceleration Test output. 9 Cooling Requirements
In order to improve the system reliability, the AHRU installation tray optionally incorporates an integral cooling fan. Increased reliability will result from operation with the optional cooling fan. 10 10.1 AHRU Alignment Requirements Installation Tray
The outline drawings of the installation trays with and without fan are shown in Figures 10 and 11. The orthogonal alignment of the installation tray with respect to the pitch, roll and azimuth axes of the aircraft is fundamental for the operation of the AHRS. Therefore, the AHRU Installation Tray, for hard-mount as well as palletized installation, must be aligned as accurately as possible / necessary to the aircraft axes. For mounting tolerances refer to sub-paragraph 10.3. 10.1.1 Mounting Recommendation
The way of avionic equipment mounting on shelves of a rack is usually adequate for electronic boxes, but is not satisfactory for motion sensing systems like the LCR-93. Metal shelves equipped without any stiffening devices are too weak for mounting inertial systems. The main consideration in the installation of any inertial system is to avoid angular vibration at the system mounting interface. Examples of means for avoidance or reduction of angular vibration are: - Minimization of outline of the mounting base: no large plates or sheets should be used as base for the tray, in order to avoid large deflections and bending during vibration. - Mounting location of tray in the center of the supporting structure: any offset of the mounting location from the center of a vibrating structure transforms the longitudinal deflection into an angular movement, which has to be avoided. - Increasing stiffness of the mounting base; this has to be of major concern: to avoid angular movement of the tray and the system the mounting base has to be stiffened by means of additional stiffeners running in both horizontal directions (e.g. U-shaped sheet metal rods, riveted to the base plate).

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Experience shows that honeycomb composite materials, which are of frequent use in helicopters, have the best considerable vibration response; they combine the three major advantages - Lightweight - Increased stiffness - Intrinsic damping Therefore those honeycomb materials should be the first choice for a mounting base plate. Choice of LCR location within the aircraft: the location for mounting the LCR-93 should be chosen in general with respect to the vibration input to the system. 10.1.2 Mounting Screws
The tray is designed for using metric M4-screws (e.g. DIN 912 hexagon socket or DIN 7985 pan head) in combination with DIN 433 washers for mounting the tray onto a base. Alternatively the use of 8-32 screws together with NAS620 No. 8 washers is permissible. The holes are large enough to allow for the heading alignment. 10.2 Misalignment Correction
In order to increase the alignment accuracy, the AHRU is able to compensate a mounting misalignment of the installation tray. The three angles between the major axes of the aircraft and the AHRU have to be evaluated and stored by use of the Level 1 Test Set. The Misalignment angles are aircraft specific and therefore stored in a segment of the MSU CalPROM. The Magnitude of each angle must not exceed a value of 3 degrees. As factory default the misalignment angles are set to zero. Misalignment can also be corrected mechanically by turning and shimming the tray. 10.3 Mounting Tolerance
In order to ensure sufficient accuracy in the aircraft attitude and other related outputs, it is necessary that the AHRU is installed within a tolerance of "12 arcminutes ("0.2 degrees) in azimuth, pitch and roll with reference to the principal aircraft axes. This may be realized with either mechanical alignment and / or by making use of the misalignment correction feature of the AHRU.

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11 11.1
Flux Valve (MSU) Calibration General
An automatic flux valve calibration procedure is implemented in the AHRU software, the procedure does not require supporting equipment. The procedure must be performed in a position without local disturbances of the earths magnetic field as no compensation for such disturbances can be made. To ensure that all of the factors for which compensation is required are present the procedure must be performed with the engine(s) running and all electrical systems used in flight are to be switched on. Particular attention should be paid to systems in the neighbourhood of the flux valve, strobe and/or position lights, pitot tube heating etc. When the procedure has been completed, both single and dual cycle magnetic disturbances produced by the aircraft and its systems are practically eliminated. The MSU Calibration Algorithm is able to compensate the MSU errors (sum of single and dual cycle errors) of up to 12 degrees. A reference direction is not required. Any initial aircraft heading can be used. When a new flux valve is installed, an initial rough alignment may be made followed by the calibration procedure. When the procedure has been completed, the aircraft should be aligned with a reference direction and the flux valve alignment adjusted until the residual index error is removed and the correct heading is indicated. 11.2 MSU Calbration Procedure
During the procedure the aircraft is turned clockwise to eight different headings about 45_ apart, a "5_ error in spacing is acceptable. These headings are indicated on the appropriate systems primary heading indicator. The aircraft can be rotated about its vertical axis or taxied in a circle to align with the required headings. The operator supervises the procedure via the aircraft instruments (HSI, RMI). The displayed heading and the heading flag are used to reach the 8 headings used and to determine when the next heading change is to be made. See the detailed procedure which follows this general description. The calibration mode is selected by either the MSU CAL MODE switch on the front panel of the LCR-93 AHRU being placed in the up (ON) position, or by setting the MSU Cal Discrete. If the Air/Ground discrete indicates that the aircraft is on the ground the flux valve calibration mode is engaged. If the Air/Ground discrete indicates that the aircraft is in the air the MSU CAL MODE switch position is ignored and the normal mode of operation remains selected. NOTE If Electrical systems, which can only be switched on in the air, must remain off, the heading system may exhibit uncompensated errors during flight. A way should be found to switch them on without changing the On Ground indication to AHRU. As long as a heading change is less than 5_ in the calibration mode initial position the displayed heading is the input received from the flux valve. This enables manual checks on the input error for different headings.

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When the heading change reaches 5_ away from the initial procedure heading, the heading relative to the initial procedure heading is displayed. This means that headings do not have to be calculated by the ground crew, the next required heading is always the next multiple of 45_ " 5 ( e.g. 45, 90, 135, 180 etc.). In each of the eight positions, including the initial position, the system accepts heading from the flux valve. The time required for data collection depends on aircraft movements, caused for example by wind or propeller rotation. During data collection and the turns between positions the Heading Warn Flag is displayed. At the end of each data collection period the flag disappears to indicate that the turn to the next heading can be started. If the flag does not disappear, it indicates that either the heading is outside the "5_ tolerance or data has not been correctly collected because of excessive aircraft motion. When this happens the procedure must be started again. The Attitude Warn flag is displayed throughout the performance of the procedure. After data has been collected for each of the eight headings, the system calculates the compensation factors and stores this data in the MSU calibration PROM. The MSU calibration PROM is attached to the AHRU mounting tray. AHRU replacement does not require a new flux valve calibration. The heading display after the compensation factors have been calculated, is switched to an indication of the quality of the compensation available. The value indicated is the standard deviation of the residual error multiplied by 100. When the calibration was successful the heading warn flag is removed from view on this display. If the heading warn flag continues to be displayed, the procedure failed. The indicated results are not stored in the MSU calibration PROM and the last valid values are retained. After a successful calibration, the system is returned to the normal mode of operation either by placing the AHRU switch MSU CAL MODE down to the OFF position, or by resetting the MSU Cal Discrete. All warning flags disappear and normal operation is resumed. If the MSU CAL MODE is accidentally left in the ON position, the attitude warn flag is displayed during a ground run. The display of these flags should prevent flight with the switch in this position. However if the aircraft takes off despite the warning, normal operation will be resumed when the Ground/Air discrete input indicates in air. On the ground, incorrect headings will be displayed.

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11.3
Index Error Compensation Procedure
The index error of the MSU is not compensated by the automatic MSU calibration. There are two possibilities for inserting the index error correction in the MSU calibration mode: 1. After a normal compass swing the index error can be compensated, or 2. Only the index error can be compensated. Procedure 1 - Set the system to MSU calibration mode - Perform a compass swing (see para. 11, Section 1) - After the compass swing is completed, point the aircraft to some known heading (within "0.5 degrees) and switch to DG (if the system was set to DG before, switch to MAG and back to DG) - The HSI will now indicate the uncorrected magnetic heading - Use the slew left/right switch to set the desired heading (note that the correction is limited to "5.0 degrees). - When the desired heading is set, switch the system back to MAG. - The HSI will now indicate the corrected heading. Procedure 2 - Point the aircraft to some known heading (within "0.5 degrees). - Set the system to MSU calibration mode. - Switch to DG (if the system was set to DG before, switch to MAG and back to DG) - The HSI will now indicate the uncorrected magnetic heading - Use the slew left/right switch to set the desired heading (note that the correction is limited to "5.0 degrees ) - When the desired heading is set, switch the system back to MAG. - The HSI will now indicate the corrected heading. NOTE This index error compensation is not downward compatible to older software version- (-1200, -1500). If the MSU compensation is done as described in this document, systems containing older software versions will flag a MSU CalPROM error when put in place of systems, in which the MSU was calibrated with the new software. To set the index error to zero, just switch to MSU cal mode, set DG and back to MAG and reset the MSU cal mode switch. Once the index error compensation mode is entered, this mode cannot be left without storing any index error. In case this mode was entered accidentily, the system has to be shut down before resetting the MSU cal mode switch, if one does not want to overwrite the stored index error. If the MSU is calibrated again, the old index error is preserved, if no new index error entry is made.

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11.4
MSU Calibration Procedure/Checklist

A/C in location with no external magnetic disturbances engine(s) running all electrical equipment switched on AHRS switched on alignment completed, all flags out of view MSU CAL MODE switch switched to ON (up)/MSU Cal Discrete ATT Flag in view HDG Flag in view Initial HDG indication: ____ HDG Flag disappears A/C to 45_ indic. HDG A/C to 45_ indic. HDG HDG Flag in view HDG Flag disappears A/C to 90_ indic. HDG HDG Flag in view HDG Flag disappears A/C to 135_ indic. HDG HDG Flag in view HDG Flag disappears A/C to 180_ indic. HDG HDG Flag in view HDG Flag disappears A/C to 225_ indic. HDG HDG Flag in view HDG Flag disappears
A/C to 270_ indic. HDG HDG Flag in view HDG Flag disappears A/C to 315_ indic. HDG HDG Flag in view HDG Flag disappears Indication of calibration quality HDG indication on compass: _____
HDG Flag out of view ATT Flag out of view Set A/C to Reference HDG Switch to DG Use slew left/right to set HDG Switch to MAG
MSU CAL MODE switch to OFF (down)

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12
Outline Drawings
The outline drawing of the AHRU is shown in Fig. 4. Various outline drawings of the MSU from Bendix/King and Honeywell are shown in Figs. 5 to 8 inclusive. Likewise, the outline drawing for the CCU is shown in Fig. 9. Figs. 10, and 11 show the mounting trays with or without fans fitted. Lastly, the CalPROM is illustrated in Fig. 12. The outline drawings are shown on the following pages : (138 to 147 inclusive). A drawing showing the principle mounting of the AHRU is shown in Fig. 13.

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12.1
AHRU
Figure 4 AHRU Outline

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12.2
AHRU showing Connectors
POWER SUPPLY
IINPUT/OUTPUT
SYNCHRO
MSU CalPROM FAN SUPPLY

FOR PIN ASSIGNMENT REFER TO TABLE 30
Figure 5 Front View of AHRU showing connectors

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12.3
MSU, Bendix/King
.49 (1.24)
1.81 (4.64)
2.375 (6.03)
3.37 (8.56)
CONNECTOR 030-2189-00 MATING CONNECTOR 030-2190-00 SUPPLIED WITH UNIT
2.38 DIA. +.020/.000 (6.04) 120 TYP.
089-7009-10
KMT 112 MOUNTING PLATE .156 DIA. MOUNTING HOLES 089-8036-19(2) 089-2157-15 2.900 DIA. (7.36) MOUNTING HOLES LAYOUT RECOMMENDED MOUNTING
NOTES 1 2 3
ALL DIMENSIONS IN ( ) ARE IN CENTIMETRES WEIGHT 0.3 POUNDS (150 GRAMS) MOUNT RIGID WITH 3 NO. 6 NON-METALLIC SCREWS IN A REMOTE MAGNETICALLY STABLE AREA. MOUNTING HARDWARE SUPPLIED WITH UNIT
Figure 6 KMT 112 MSU Outline and Mounting Diagram

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12.4
MSU, Honeywell, TECSTAR
Figure 7 FX-120/FX-600/FV-1 MSU Outline and Mounting Diagram

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12.5
MSU, Honeywell
Figure 8 FX-125/220 MSU Outline and Mounting Diagram

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12.6
Compass Control Unit
Figure 9 CCU Outline and Mounting Diagram

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12.7
Tray, without Fan
Figure 10 Tray P/N 124260-0000 Outline - Without Fan (sheet 1 of 2)

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Figure 10 Tray P/N 144200-0000 Outline - Without Fan (sheet 2 of 2)

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12.8
Tray, with Fan
Figure 11 Tray P/N 140691-0000 Outline - With Fan (sheet 1 of 2)

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Figure 11 Tray P/N 144200-0000 Outline - With Fan (sheet 2 of 2)

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12.9
CalPROM
CalPROM Module
Lettering i.a.w. MIL-STD-130 or equivalent lettering Description. PN. SN. REV
ESD-label
Connector end housing
On delivery connector will be fitted with a dustcap
Nylon strap
Dimensions in millimetres
Figure 12 CalPROM Outline

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12.10
AHRU mounting
Figure 13 AHRS Mounting Drawing

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13
System Wiring
The following notes apply, where indicated. NOTES 1. Twisted and Shielded Wires - Wires should be shielded or twisted and shielded as indicated with an insulating jacket over the shield: The shield should be carried through each break and should be connected at both ends external to the equipment using metal backshell / strain relief of the respective connector (see Figure 16). The Pigtail method shall be avoided. 2. 3. External Program Control - Refer to Paragraph 3 for usage of external program control pins. MSU Shield Grounding - The shielded multiple conductor cable carrying the sensitive signals from the MSU should have its shield grounded at the backshell of the respective connector. The mating connectors with metric (M3) screw locks shall have preferably full metallic, or at least metallized plastic backshells.
4.
Figures 14 and 15 illustrate the interconnection between the CCU and LCR-93, and the interconnection of the ground discrete reference respectively.
NOTE The system wiring is laid out with particular reference to the various part numbers for the LCR-93, i.e. J1, J2 and J5 are the same for all systems, whereas J3 and J4 are laid out in full under the designated part number concerned. This is for ease of facility to the technician concerned. The following notes apply to the text annotated with an asterisk/asterisks on pages 151 and 152 respectively. * ** ** HEADING 1 REFERENCE serves heading synchros no. 1 and 2. HEADING 1 REFERENCE serves heading synchro no. 1. HEADING 2 REFERENCE serves heading synchro no. 2.

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13.1
FUNCTION
J1 (Power Supply) Electrical Pin Assignment

CONNECTOR PIN
J1-01 J1-09 J1-02 J1-10 J1-03 J1-11 J1-04 J1-12 J1-08
IN/OUT
I I I I I I I I
AWG SIGNAL FORMAT

(22) (22) (22) (22) (22) (22) (22) (22) (24) AIRCRAFT 28 VDC AIRCRAFT 28 VDC DC POWER GROUND DC POWER GROUND AIRCRAFT 28 VDC AIRCRAFT 28 VDC DC POWER GROUND DC POWER GROUND
LOAD
2 A MAX 2 A MAX 2 A MAX 2 A MAX 2 A MAX 2 A MAX 2 A MAX 2 A MAX
+28 VDC PRIM A/C POWER +28 VDC PRIM A/C POWER 28 VDC PRIM RETURN 28 VDC PRIM RETURN +28 VDC AUX A/C Power +28 VDC AUX A/C Power 28 VDC AUX RETURN 28 VDC AUX RETURN +28 VDC CCU/DISCRETES
28 VDC FOR CCU AND SAV (Standard Applied Voltage) INPUT DISCRETES 28VDC POWER GROUND RELAY CONTACT GND = On AUX Power 110mA
28 VDC RETURN AUX POWER ANNUCIATOR
J1-15 J1-07
O O
(24) (24)
SPARES
J1-05, J1-06, J1-13, J1-14
13.2
FUNCTION
J2 (Fan Supply) Electrical Pin Assignment

CONNECTOR PIN
J2-03 J2-02 J2-04 J2-05
IN/OUT
AWG SIGNAL FORMAT

(24) (24) (24) (24) JUMPER INSIDE THE FAN CONNECTOR
LOAD
100 mA MAX 100 mA MAX
+24 VDC FAN POWER 24 VDC RETURN FAN TEST ENABLE A FAN TEST ENABLE B SPARES
O O I I
J2-01, J2-06 to J2-09
Note : This connector is permanently attached to the fan wiring. therefore no installation wiring is required.
Table 30 System Wiring (Sheet 1 of 6)

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13.3
FUNCTION
ATTITUDE REFERENCE
J3 (Synchro) Electrical Pin Assignment (only AHRU / PN 142185-2XXX)

CONNECTOR PIN
HI LO X(S1) Z(S2) Y(S3) X(S1) Z(S2) Y(S3) HI LO X(S1) Z(S2) Y(S3) X(S1) Z(S2) Y(S3) LO HI LO HI LO HI LO HI HI LO J3-04 J3-19 J3-11 J3-26 J3-40 J3-10 J3-25 J3-39 J3-05 J3-20 J3-13 J3-28 J3-42 J3-12 J3-27 J3-41 J3-24 J3-09 J3-22 J3-07 J3-23 J3-08 J3-21 J3-06 J3-15 J3-30 J3-02 J3-31 J3-14 J3-29 J3-03 J3-18 J3-32 J3-17 J3-16 J3-01 J3-43 J3-44 J3-37 J3-38 J3-35 J3-36
IN/OUT
I I O O O O O O I I O O O O O O O O O O O O O O O O O O O O
AWG SIGNAL FORMAT

(24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24)
LOAD
PITCH SYNCHRO
26 VRMS AC 400 Hz 10 mA RMS MAX. FLOATING INPUT 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 3 x (120 + j450)W 400 Hz (USES ATT. REF) 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 3 x (120 + j450)W 400 Hz (USES ATT. REF) 26 VRMS AC 400 Hz 10 mA RMS MAX. FLOATING INPUT 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 3 x (120 + j450)W 400 Hz (USES HDG.1 REF) 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 10 KW MIN. 400 Hz (USES HDG.1 REF) 200 mV/deg VRMS 5 KW MIN 400 Hz FLOATING OUTPUT 200 mV/deg VRMS 5 KW MIN 400 Hz FLOATING OUTPUT 50 mV/deg VRMS 10 KW MIN 400 Hz FLOATING OUTPUT 50 mV/deg VRMS 10 KW MIN 400 Hz FLOATING OUTPUT 2-wire DC"4V 1 KW SCALING DEPENDS ON PROG. PINS. RELAY CONTACT CLOSED = VALID 2-WIRE DC "4 V 0.333V/deg/sec RELAY CONTACT CLOSED = VALID RELAY CONTACT CLOSED = VALID 110 mA 1 KW 110 mA 110 mA
ROLL SYNCHRO HEADING 1 REFERENCE * HEADING SYNCHRO No. 1 HEADING SYNCHRO No. 2 PITCH AC 200mV/deg ROLL AC 200mV/deg PITCH AC 50mV/deg ROLL AC 50mV/deg YAW RATE DC OUTPUT
YAW RATE WARN DISC. A YAW RATE WARN DISC. B TURN RATE HI DC OUTPUT LO ATTITUDE WARN DISCR. A ATTITUDE WARN DISCR. B HEADING WARN DISCR. 1 A HEADING WARN DISCR. 1 B HEADING WARN DISCR. 2 A HEADING WARN DISCR. 2 B TURN RATE RTN YAW RATE RTN NORMAL ACCEL. HI DC OUTPUT LO NORMAL ACCEL. TEST ENABLE
O O O O O O O O O O I I
RELAY CONTACT 110 mA CLOSED = VALID VIRTUAL GROUND FOR TURN RATE VIRTUAL GROUND FOR YAW RATE 2-WIRE DC "4V 1 KW. 0.383V/g SIGNAL REF. FOR J3-36 -15VDC...-5VDC = TEST ENABLED -2VDC...0VDC = TEST DISABLED

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13.4
FUNCTION
ATTITUDE REFERENCE
J3 (Synchro) Electrical Pin Assignment (only AHRU / PN 142185-3XXX)

CONNECTOR PIN
HI LO X(S1) Z(S2) Y(S3) X(S1) Z(S2) Y(S3) HI LO HI LO X(S1) Z(S2) Y(S3) X(S1) Z(S2) Y(S3) LO HI LO HI LO HI LO HI HI LO J3-04 J3-19 J3-11 J3-26 J3-40 J3-10 J3-25 J3-39 J3-05 J3-20 J3-33 J3-34 J3-13 J3-28 J3-42 J3-12 J3-27 J3-41 J3-24 J3-09 J3-22 J3-07 J3-23 J3-08 J3-21 J3-06 J3-15 J3-30 J3-02 J3-31 J3-14 J3-29 J3-03 J3-18 J3-32 J3-17 J3-16 J3-01 J3-43 J3-44 J3-37 J3-38 J3-35 J3-36
IN/OUT
I I O O O O O O I I I I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O I I
AWG SIGNAL FORMAT

(24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) 26 VRMS AC 400 Hz FLOATING INPUT 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 400 Hz (USES ATT. REF) 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 400 Hz (USES ATT. REF) 26 VRMS AC 400 Hz FLOATING INPUT 26 VRMS AC 400 Hz FLOATING INPUT 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 400 Hz (USES HDG.1 REF) 3-WIRE SYNCHRO OUTPUT 11.8 VRMS LEG TO LEG 400 Hz (USES HDG.1 REF) 200 mV/deg VRMS 400 Hz FLOATING OUTPUT 200 mV/deg VRMS 400 Hz FLOATING OUTPUT 50 mV/deg VRMS 400 Hz FLOATING OUTPUT 50 mV/deg VRMS 400 Hz FLOATING OUTPUT 2-wire DC"4V 0.333V/deg/sec
LOAD
10 mA RMS MAX.
PITCH SYNCHRO
ROLL SYNCHRO HEADING 1 REFERENCE ** HEADING 2 REFERENCE ** HEADING SYNCHRO No. 1 HEADING SYNCHRO No. 2 PITCH AC 200mV/deg ROLL AC 200mV/deg PITCH AC 50mV/deg ROLL AC 50mV/deg TURN RATE DC OUTPUT
3 x (120 + j450)W
3 x (120 + j450)W 10 mA RMS MAX. 10 mA RMS MAX.
3 x (120 + j450)W
10 KW MIN. 5 KW MIN 5 KW MIN 10 KW MIN 10 KW MIN 1 KW
TURN RATE WARN DISC. A TURN RATE WARN DISC. B YAW RATE HI DC OUTPUT LO ATTITUDE WARN DISCR. A ATTITUDE WARN DISCR. B HEADING WARN DISCR. 1 A HEADING WARN DISCR. 1 B HEADING WARN DISCR. 2 A HEADING WARN DISCR. 2 B TURN RATE RTN YAW RATE RTN NORMAL ACCEL. HI DC OUTPUT LO NORMAL ACCEL. TEST ENABLE
RELAY CONTACT 110 mA CLOSED = VALID 2-WIRE DC "4 V 1 KW SCALING DEPENDS ON PROG. PINS. RELAY CONTACT 110 mA CLOSED = VALID RELAY CONTACT 110 mA CLOSED = VALID RELAY CONTACT 110 mA CLOSED = VALID VIRTUAL GROUND FOR TURN RATE VIRTUAL GROUND FOR YAW RATE 2-WIRE DC "4V 1 KW. 0.383V/g SIGNAL REF. FOR J3-36 -15VDC...-5VDC = TEST ENABLED -2VDC...0VDC = TEST DISABLED

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13.5
FUNCTION
MSU SIGNAL INPUT
J4 (I/O) Electrical Pin Assignment

CONNECTOR PIN
J4-51 J4-09 J4-30 OUT IN J4-39 J4-60 J4-18 J4-59 J4-50 J4-02 J4-22 J4-10 J4-31 J4-04 J4-25 J4-26 J4-46 J4-24 J4-44 J4-45 J4-03 J4-32 J4-14 J4-35 No.1 No.2 J4-34 J4-54 J4-12 J4-13 J4-55 J4-33 J4-53 J4-11 J4-17 J4-38 J4-36 J4-57 J4-16 J4-58 J4-37 J4-62 J4-20 J4-21 J4-42 J4-15 I I I I I I I (24) (24) (24) (24) (24) (24) (24) (24) (24) +28VDC = TURN RATE SELECTED ON ARINC LABEL 330 28 VDC = MSU CAL MODE SELECTED REFERENCE FOR SAV ( Standard Applied Voltage ) INPUT DISCRETES +28 VDC or GND ( see Table 4 ) +28 VDC = HEADING SLEW LEFT +28 VDC = HEADING SLEW RIGHT GND = AIRCRAFT AIRBORNE OPEN = AIRCRAFT ON GROUND RELAY CONTACT 110 mA CLOSED = WARN (ACCELERATION LIMIT EXCEEDED)
IN/OUT
AWG SIGNAL FORMAT

(24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) GND or OPEN ( see Table 4 )
LOAD
I I I O I I O O O O O O O O I I O O I I
ANALOG SIGNAL ( see Table 31 ) ANALOG SIGNAL ( see Table 31 ) ANALOG SIGNAL ( see Table 31) CONNECT TO J4-60 CONNECT TO J4-39 FOR LAB TEST ONLY FOR LAB TEST ONLY FOR LAB TEST ONLY 12 - 23VRMS 400Hz (depends on MSU type) 2-WIRE DC CURRENT "200 mA/"15_ FULL SCALE 1 KW
MSU REFERENCE MSU REFERENCE GND GND GND MSU EXCITATION SLAVING ERROR RS 422 TXD1 RS 422 RXD1 RS 422 TXD2 RS 422 RXD2 PROG. PIN COMMON MTG. POS #1 MTG. POS #2 SOURCE DESTINATION IDENTIFIER DG MODE LOGIC SELECT PARITY DISCRETE SELFTEST DATA ENABLE MAINTENANCE DATA See NOTE See NOTE
HI LO HI LO HI LO HI LO HI LO HI LO
O I I I I I I I I
SIGNAL GROUND ORIENTATION DISCRETE ORIENTATION DISCRETE
GND = SELFTEST DATA SELECTED GND = MAINTENANCE DATA ENABLE
ARINC TURN RATE SELECT MSU CALIBRATION DISCRETE GROUND DISCRETE REF. DG / MAG MODE SELECT SLEW LEFT SLEW RIGHT ON GND/IN AIR DISCRETE ACCELERATION MON. ACCELERATION MON. See NOTE See NOTE See NOTE A B
O O

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AUTOP. HDG INTERLOCK A AUTOP. HDG INTERLOCK B See NOTE See NOTE ARINC 429 OUTP. DATA BUS No.1 ARINC 429 OUTP. DATA BUS No.2 ARINC 429 OUTP. DATA BUS No.3 ARINC 429 INP. DATA BUS No.1 ARINC 429 INP. DATA BUS No.2 15 V RTN + 15 V SPARES A B A B A B A B A B
J4-19 J4-40 J4-41 J4-61 J4-08 J4-29 J4-49 J4-07 J4-28 J4-48 J4-06 J4-27 J4-47 J4-05 J4-56 J4-52
O O
(24) (24)
RELAY CONTACT CLOSED = VALID
110 mA
O O O O O O I I I I O O
(24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24) (24)
ARINC 429 HIGH SPEED 100 KHz ARINC 429 HIGH SPEED 100 KHz ARINC 429 HIGH SPEED 100 KHz ARINC 429 LOW SPEED 12.5 KHz ARINC 429 LOW SPEED 12.5 KHz FOR LAB TEST ONLY FOR LAB TEST ONLY
40 mA DC 40 mA DC 40 mA DC 3 KW MIN 3 KW MIN
J4-01, J4-23 ,J4-43
NOTE In the following the different pin assignments are listed to the respective P/N of the system.
FUNCTION
P/N 142185-XX0X, -XX1X YAW RATE SCALE FACTOR NO.1 J4-53 YAW RATE SCALE FACTOR NO.2 J4-11 P/N 142185-XX2X DADS SELECT NO.1 DADS SELECT NO.2 P/N 142185-XXX0, -XXX2 AHRS WARN DISCRETE AHRS WARN DISCRETE P/N 142185-3101 AHRS WARN DISCRETE AHRS WARN DISCRETE AHRS WARN DISCRETE P/N 142185-1XXX, -3101 BASIC MODE ANNUC. BASIC MODE ANNUC. P/N 142185-2XXX TURN RATE WARN DISC. A TURN RATE WARN DISC. B P/N 142185-3XX0, -3XX2 YAW RATE WARN DISC. YAW RATE WARN DISC. A B J4-41 J4-61 O O (24) (24) RELAY CONTACT CLOSED = VALID 110 mA J4-41 J4-61 O O (24) (24) RELAY CONTACT CLOSED = VALID 110 mA A B J4-41 J4-61 O O (24) (24) RELAY CONTACT CLOSED = BASIC 110 mA A B C J4-21 J4-42 J4-15 O O O (24) (24) (24) RELAY CONTACT CLOSED = AHRS VALID CLOSED = AHRS WARN 110 mA A B J4-21 J4-42 O O (24) (24) RELAY CONTACT CLOSED = AHRS VALID 110 mA J4-53 J4-11 I I (24) (24) SCALE FACTOR OF THE ANALOG YAW RATE OUTPUT I I (24) (24) SCALE FACTOR OF THE ANALOG YAW RATE OUTPUT
CONNECTOR PIN
IN/OUT
AWG SIGNAL FORMAT
LOAD

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13.6
FUNCTION
J5 (MSU CalPROM) Electrical Pin Assignment

CONNECTOR PIN
J5-01 J5-02 J5-06 J5-05 J5-03 J504
IN/OUT
AWG SIGNAL FORMAT

(24) (24) (24) (24) (24) (24) AHRU +5 VDC DC POWER GROUND TTL TTL TTL TTL
LOAD
+5 VDC CalPROM POWER 5 VDC RETURN SPROMCS STXCLK STXD SRXD
O I O O O I
RS-422 TXD1 RS-422 RXD1
HI LO HI LO
J5-14 J5-15 J5-12 J5-13 J507 J5-08 J5-09 J5-10 J5-11
O O I I I I I I
(24) (24) (24) (24) (24) (24) (24) (24)
FOR LAB TEST ONLY FOR LAB TEST ONLY
PROGRAM LOAD ENABLE* CAL.PROG. LOAD DISCR.* HIL TEST ENABLE* TIME TAG C. RESET SPARE
FOR LAB TEST ONLY FOR LAB TEST ONLY FOR LAB TEST ONLY FOR LAB TEST ONLY
NOTE No wiring is required for the MSU CalProm upon installation.

twisted wire twisted and shielded wire

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AHRU Input Connector Pin J409 J451 J430 J402 J422 not con.
Bendix./King KMT 112 D A B H E
Honeywell FX-Series A B C D E F
Table 31 AHRU/MSU Wiring
CCU
LCR-93
+28 VDC
J1-08
Figure 14 Interconnection Diagram CCU, LCR-93

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LCR-93
ARINC TURN RATE SEL.
Figure 15 Interconnection Diagram for Control Discretes

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Figure 16 Shield termination of connectors using Metal Backshell/Strain Relief method

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THIS PAGE INTENTIONALLY LEFT BLANK

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SECTION 2
DESCRIPTION AND OPERATION

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General
This section provides on-aircraft maintenance procedures for the LCR-93 Attitude and Heading Reference System (AHRS). A system consists of an Attitude and Heading Reference Unit (AHRU), a Magnetic Sensor Unit (MSU) and, optionally a compass controller unit (CCU). Section 1, Installation Instructions, contains information that can be pertinent to on-aircraft maintenance of the AHRS; that information should be used in conjunction with this section when applicable. 2 Purpose of Equipment
The LCR-93 Attitude and Heading Reference System (AHRS) is an all attitude inertial sensor system which provides aircraft attitude, heading and flight dynamics information to display, flight control, weather radar antenna platform and other aircraft systems and instruments. 3 Leading Particulars
Leading particulars for the AHRS are provided in Section 1, Paragraph 1, Installation Data. 4 Description
Descriptive information pertaining to the AHRS units is provided in the following Paragraphs: 4.1 Location of Units in Aircraft.
Provided in Section 1, Paragraph 1.2, Installation Data. 4.2 Outline and Mounting Drawings
Outline and mounting drawings for the AHRU, MSU, CCU, AHRU trays and CalPROM are provided in Figures 4 through 12 of section 1. 4.3 AHRU
The LCR-93 is mechanized as a strapdown inertial measurement system using fiber optic rate gyros (FOGs) and micromechanical accelerometers which are strapped down to the principal aircraft axes. A digital computer mathematically integrates the angular rate data to obtain heading, pitch and roll. 4.4 MSU
The magnetic sensor unit detects the horizontal component of the earths magnetic field and transmits it to the AHRU for use as long term heading reference.

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4.5
CCU (Optional)
The CCU contains controls and annunciators to facilitate manual slaving of the AHRU to the MSU and provides the following additional capabilities to the AHRS: Setting of compass heading during free gyro (DG) mode operation. Fast slaving during operation at extreme latitudes. MAG or free gyro (DG) operation mode selection. Nulling of compass error after alignment in areas of high magnetic disturbances.
The CCU allows crew selection of either DG or slaved magnetic modes. A slaving error annunciator and slew switch are provided for setting the compass heading in DG mode and to provide an indication of synchronization in slaved magnetic mode. The slew switch may also be used to manually correct heading information during operation in extreme latitudes. 5 Modes of Operation
The AHRS provides the following operating modes : 5.1 5.1.1 (a) Alignment Operational Mode MSU Calibration Mode Self-Test Data Mode Maintenance Mode Alignment Initialization Following initial power application, the AHRS performs an alignment sequence which consists of two alignment phases. During the alignment sequence, the output warn flag discretes and the warn discretes in the Discrete Labels 270 / 271 of the DITS are set to warn condition, together with no computed data (NCD) in attitude, heading, acceleration, and rate data. If the AHRU ambient temperature is outside of the range of +15_C to +35_C, alignment is preceded by a FOG temperature stabilization phase with a duration of up to 25 seconds. After short power interruptions with a duration less than 500 milliseconds ("15%, due to component tolerances) the AHRS has the ability to perform a fast realignment sequence which results in valid attitude, heading, and rate data within 45 ms. The acceleration data will return valid within 1.0 second.
(b) (c)

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5.1.2 (a)
Alignment Phase 1 The duration of alignment phase 1 is 15 seconds and is independent of whether the aircraft is on the ground or in the air. During the alignment phase 1, the pitch, roll and heading outputs are first set to zero. After the initial filter transient the actual values of these angles are output via DITS, but marked as invalid (SSM set to NCD). The synchro output is kept at zero for the whole align phase 1. The angular body rates and the body accelerations are output via DITS, but marked as invalid (SSM set to NCD) from the beginning, whereas the analog outputs (yaw and turn rate, normal acceleration) are set to zero. Alignment Phase 2
(b)
(c)
5.1.3
Within the alignment phase 2 the AHRU performs the attitude and heading alignment.: (a) During the alignment phase 2 the actual angles are output, but marked as invalid (SSM set to NCD, ATT and HDG discretes set to invalid). The angular body rates and the body accelerations are output via DITS, now marked as valid (SSM set to Normal). Yaw and turn rates and normal acceleration are output via the analog channels with discretes set valid. The duration of alignment phase 2 depends on the motion intensity during both alignment phases 1 and 2. If the aircraft motion does not exceed certain limits (refer to sub-paragraph 5.1.4), static alignment takes place, otherwise moving alignment.
(b)
(c)
NOTE Wind buffeting on ground, cargo loading etc. do not induce a transition from static to moving alignment 5.1.4 (a) Motion Conditions during Alignment Static Alignment (on ground) : Angular rates : v "1_/s, Period : v1 s Alignment time : 30 s Moving Alignment (in air) : Angular rates : v "5_/s, Period : v2 s Alignment time : 120 s
(b)
NOTE Angular rates outside the above envelope extend the alignment time.

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5.1.5
Estimation of Earth Rate and Gyro Drift
To improve the system accuracy, the estimated earth rate and gyro drift are used for compensation. While the AHRU is in Normal and in MAG sub-mode, horizontal, respectively vertical earth rate and gyro drift estimation will be continuously updated. 5.2 Operational Mode
After the completion of the alignment phase 2 all output data is set valid and the accuracies as specified are applicable. In operational mode the attitude loop is controlled by the normal / basic sub-mode, the heading loop is controlled by the MAG / DG sub-mode. 5.2.1 Normal sub-mode
In Normal sub-mode the AHRS utilizes valid True Airspeed (TAS) from an air data system (DADS) to improve attitude accuracy. 5.2.2 Basic sub-mode
If the TAS data is not available or invalid, the system will automatically revert to the Basic sub-mode to operate autonomously. If TAS becomes valid again during Basic sub-mode operation, the system will start a reversion to Normal sub-mode. 5.2.3 (a) MAG sub-mode In MAG sub-mode the AHRU heading loop is supplied with valid MSU data. The earth rate and gyro drift correction factors are updated continuously during operation. Heading output will be magnetic heading referenced to local magnetic north. A fast heading realignment will be provided, if the slew function (slew left or right)* is selected while the AHRS is in MAG submode. *slew left platform HDG (CCW) / slew right platform HDG (CW) 5.2.4 (a) (b) DG Sub-mode The Directional Gyro sub-mode (DG Sub-mode) can be activated manually by the DG Mode select discrete. During initialization in DG Mode the heading is set to 0 degrees. After completion of the alignment heading can be set manually to any desired heading value by using the slew function. In Basic sub-mode the compensation of the horizontal earth rate will be suppressed. MSU Calibration Mode
b)
5.3
In MSU Calibration Mode the AHRU determines the MSU calibration coefficients used for compensation of single and dual cycle MSU errors. The MSU Calibration algorithm is able to compensate single and dual cycle MSU errors in sum up to 12 degrees.

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5.3.1
Entering and Leaving MSU Cal Mode
The MSU Calibration Mode is manually selected by the MSU calibration control switch or by the MSU calibration control discrete (J4-38). This mode is disabled as long as the alignment is not yet completed or if the aircraft is determined to be in the air by the GND / AIR control discrete. After resetting the MSU calibration switch to OFF or resetting the MSU calibration control discrete the AHRS returns to the Operational Mode. 5.3.2 Flags and Heading Outputs
At the beginning of MSU Calibration Mode the AHRS is switched automatically to DG Mode. The attitude warn and heading warn flags are set to invalid condition. The heading output displays the uncompensated MSU input data, until the aircraft is moved. As soon as a turn is detected for the first time the heading output displays the relative heading, i.e. the change of heading, as measured by the gyros, relative to the initial heading at the beginning of the MSU Calibration Mode. 5.3.3 Data Collection
To collect the data necessary for the calculation of compensation coefficients, the aircraft must be stationary in the initial position and then has to be turned in steps of 45 degrees ("5 degrees) around its vertical axis. The aircraft must be stationary in each position until the heading warn flag is set to valid condition again. The heading flag is reset to invalid condition each time the aircraft is turned to a new heading position. The MSU raw data is automatically collected and stored at each measurement position while the aircraft is stationary. 5.3.4 Calculation of Coefficients
Data collecting is complete after turning through 315 degrees (7 steps of 45 degrees). Then the calibration coefficients for single and dual cycle errors are calculated and stored in the MSU CalPROM, i.e. an external detachable device located at the AHRU frontplate. The heading warn flag is set to valid condition and the heading output displays the residual error (with respect to heading 0 degrees, multiplied by 100). At this point the MSU Calibration Mode is ready to be exited with the new coefficients available. If the MSU calibration was not successful (because of AHRU defect or bad data collection) the heading warn flag remains invalid during indication of the residual heading error. In this case the new calibration coefficients are not stored in the MSU CalPROM, but the old coefficients are available again after the MSU Calibration Mode has been left. The same holds true in case that the MSU Calibration Mode is terminated prematurely. 5.3.5 Index Error Compensation
An index error can be compensated by either turning the flux valve mechanically or shifting the index electronically. See section 1 para 11.3 for further details.

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5.4
Self-test Data Mode
The Self-test data mode can be activated manually by setting the self-test data discrete. This mode is disabled during Start Up or Shut Down mode, and in all modes when the aircraft is determined to be in the air. During Self-test data mode the AHRU supersedes the output data of the digital and analog interfaces with dedicated self-test values. The AHRU operation is not influenced by the self-test data mode. NOTE For self-test values refer to section 1 paragraph 8. 5.5 Maintenance Mode
The Maintenance Mode is available, if the aircraft is determined to be on ground by the GND / AIR control discrete. The Maintenance Mode is manually selected by the maintenance control discrete, which has to be set before power-on. In Maintenance Mode the AHRU outputs data of failure history and the elapsed time via DITS and RS-422 communication port 1. 5.5.1 (a) Failure Logging and Malfunction Storage The AHRS provides the capability for recording failure data. This is achieved by storing failure maintenance data in labels 350, 351, 352 and 353 in the EEPROM. The data is marked with a time tag derived from the elapsed time counter. The EEPROM area is subdivided into records, each record consisting of the labels 350, 351, 352 and 353 and the time tag. The AHRU will observe the EEPROM at turn-on to determine which record should be used for the current power-on phase (logic has been implemented to differentiate between a short power interrupt and a new turn-on to determine if re-initialization is necessary). The AHRU also monitors periodically the state of maintenance words to see if any new failures have occured. All data is latched in the EEPROM (if an intermittent failure disappears, the record of its occurence will not be removed, i.e. the failure contains the accumulated failures occured during one power on phase). The stored failure data and elapsed time in the EEPROM are erasable by special test equipment. The failure memory is capable of storing up to 192 failure records. The oldest failure records will be overwritten, if more than 192 power cycles failure records occur.
(b)
(c)
(d) (e)

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5.5.2
Elapsed Time Counter
The elapsed time counter is software implemented and readable via DITS and the RS-422 test interface. The range of elapsed time recording is more than 100,000 hours. 5.5.3 Output of the Failure History and Elapsed Time
If the AHRS is in maintenance mode (discrete maintenance data enable is selected) the failure history and elapsed time will be provided via DITS and the RS-422 output interface 1. The failure history and the elapsed time are transmitted cyclicly starting with the accumulated operating hours followed by the most recent failure record. After all records have been transmitted the programme waits for one second before repeating the output. The following table defines the transmission frame of the output comprising a set of up to 193 records. The elapsed time is transmitted as long word with a resolution of 0.1h. The significant 16 bits of each maintenance word will be transmitted only. The checksum of each record is the ones complement of the wordwise accumulation of all the records data words except the checksum itself.

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1.
Record
Upper Byte of Record Number 0 Lower Byte of Record Number 0 Bit 32-Bit 25 of elapsed time Bit 24-Bit 17 of elapsed time Bit 16-Bit 09 of elapsed time Bit 08-Bit 01 of elapsed time Upper Byte of Checksum Lower Byte of Checksum
2.
Record
Upper Byte of Record Number n Lower Byte of Record Number n Bit 29-Bit 22 of Label 350 Bit 21-Bit 14 of Label 350 Bit 29-Bit 22 of Label 351 Bit 21-Bit 14 of Label 351 Bit 29-Bit 22 of Label 352 Bit 21-Bit 14 of Label 352 Bit 29-Bit 22 of Label 353 Bit 21-Bit 14 of Label 353 Bit 32-Bit 25 of elapsed time at failure condition Bit 24-Bit 17 of elapsed time at failure condition Bit 16-Bit 09 of elapsed time at failure condition Bit 08-Bit 01 of elapsed time at failure condition Upper Byte of Checksum Lower Byte of Checksum
Table 1 RS-422 Maintenance Data Transmission Frame (Sheet 1 of 2)

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3.
Record
Upper Byte of Record Number n-1 Lower Byte of Record Number n-1 Bit 29-Bit 22 of Label 350 Bit 21-Bit 14 of Label 350 Bit 29-Bit 22 of Label 351 Bit 21-Bit 14 of Label 351 S S
4.
Record
Upper Byte of Record Number max (1, n-191) Lower Byte of Record Number max (1, n-191) Bit 29-Bit 22 of Label 350 Bit 21-Bit 14 of Label 350 Bit 29-Bit 22 of Label 351 Bit 21-Bit 14 of Label 351 Bit 29-Bit 22 of Label 352 Bit 21-Bit 14 of Label 352 Bit 29-Bit 22 of Label 353 Bit 21-Bit 14 of Label 353 Bit 32-Bit 25 of elapsed time at failure condition Bit 24-Bit 17 of elapsed time at failure condition Bit 16-Bit 09 of elapsed time at failure condition Bit 08-Bit 01 of elapsed time at failure condition Upper Byte of Checksum Lower Byte of Checksum
m+2..........193 n+1...........2^16-1
Table 1 RS-422 Maintenance Data Transmission Frame (Sheet 2 of 2)

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5.5.4
Maintenance Output via DITS
The following table defines the DITS transmission frame. No other information is supplied via DITS in this mode.The first transmission frame contains the elapsed time counter. The appropriate maintenance labels are empty.
NOTE Label 302 has a different resolution than in other modes
Table 2 DITS Maintenance Data Transmission Frame

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6 6.1
Power Interruptions General
The AHRU operates during undervoltage conditions down to 12 VDC "15% without any loss of performance. Undervoltage operation with voltages below 18 VDC may occur for any duration up to 60 seconds, e.g. during engine starting. The AHRU shall not be operated within undervoltage conditions for longer periods. 6.2 Duration: Short Power Interrupt less than 500 ms ("15%).
Power interruptions with a duration of less than 5 milliseconds are buffered by the AHRU power supply and cause no influence to the AHRU performance. During power interruptions of more than 5 milliseconds, or if the input voltage drops below a threshold of 12 VDC, the AHRU switches off. Once the power returns and the input voltage increases above an 18 VDC threshold, the AHRU automatically switches on again. Power interruptions with a duration of less than 500 milliseconds ("15%, due to component tolerances) are identified as short power interrupts, which may cause a fast realignment cycle, i.e. (a) (b) (c) (d) 6.3 Duration: Mode is initiated by the Start Up mode, In fast alignment, attitude and heading will be realigned with the propagated Euler angles based on the average aircraft motion, The fast alignment will be completed within 45 milliseconds, tolerance "5%, with the exception of the accelerometer derived data. This data is valid again within 1.0 second. When the alignment is completed, the AHRS Operational Mode is activated. Long Power Interrupt more than 500 ms ("15%).
System response: Normal turn-on sequence initiated with complete realignment as per paragraph 5.1.

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SECTION 3
TESTING AND TROUBLESHOOTING

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General
A typical AHRS installation is shown in the block diagram of Figure 1. Depending on the configuration one or two AHRUs may be installed. No manual testing of the AHRS is required, and troubleshooting is simplified by the built-in fault monitoring and self-test circuits of the AHRUs. When power is applied to the system, a series of self-tests are performed to verify system functions. In addition, the system contains hardware and software monitors and performs continuous background hardware and software verification tests. Failure of these tests results in output of warn signals or system shutdown. The Maintenance Discrete Output words are shown in Tables 14 through 17. Heading Fail, Attitude Fail, Yaw Rate Fail and Turn Rate Fail warning signals will set flags on the aircraft flight displays. The AHRS Fail warning signal provides a fail warning output any time one of the basic display warnings is set. This AHRS Fail warning can be used in conjunction with the MASTER WARNING display system. Manually initiated self-tests can also be performed on each of the individual AHRUs. Self-test discretes, one for each of the AHRUs, are provided for implementation. Actuation of the discrete causes that unit to output test values to the aircraft systems. The parameters output and the associated test values are shown in Section 1, Paragraph 8. The monitoring and warning criteria are stated, and shown in Tables 1 to 7 inclusive. The DITS Status information is provided in Tables 8 to 13 inclusive. A chart of fault monitoring provisions (Maintenance Discrete Outputs - Labels 350 to 353) is included in Tables 14 through 17. NOTE Paragraph 3 shows the check-list for the steps to be followed, when a fault appears during an initial installation of a system. Likewise, the check-list may also be consulted as a fault finding guide during the time that the equipment is in service. 1.1 Initial Installation Check
If you are working on an initial installation the following list may help you to check the layout of your wiring. (1) Power supply (J1) - Primary power available at J1, Pin-1/, Pin-9 and J1, Pin-2/Pin-10 - If used auxiliary power at J1, Pin-3/Pin-11 and J1, Pin-4/Pin-12. - Power to control discretes using J1, Pin-8 with J1, Pin-15 as ground reference. (2) Fan (J2) - In case the AHRS is mounted on a tray with fan the connector of the tray mounts to J2 of the AHRS. Please note that this will enable a fan test that monitors the current to the fan.

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(3) Synchro I/O (J3) - Check if all used synchro and two wire AC outputs have their respective input (reference) voltage. - Check if all outputs have their respective wiring. (4) I/O (J4) - Check the Flux Valve connection with respect to section 1 table 31 (J4, Pin-2 and -22 respectively J4, Pin-9/Pin-30/Pin-51) - Check for connection between J4, Pin-39 and J4, Pin-60 (mandatory). - Check the programming pins to satisfy the ODD parity (J4, Pin-14/Pin-35/Pin-12/ Pin-13/Pin-11 /Pin-53/Pin-17) see section 1 paragraph 3.1 ff. and (7). - Check input discretes to control Slewing (J4, Pin-lG/Pin-58), DG-Mag Mode (J4, Pin-57) and Selftest (J4, Pin-55) see section 1 paragraph 3.8 and (8). - Check WOW (J4, Pin-37). Please note that the WOW signal MUST be present at that time when power is applied to the AHRS. (5) CALPROM (J5) The CALPROM will be mounted on J5 and stores compensation data for Flux Valve, Mounting correction and Acceleration monitor. The CALPROM stays with the tray (if not defective) and is therefore tied to the tray using a cord. If power is applied to the AHRS the AHRS should power up and indicate proper operation (flags are out of view) after 30 seconds of alignment time. If HSI/ADI indicate incorrect operation please refer to the trouble shooting section in this manual. If the AHRS indicates proper operation a general test shall be applied to ensure correct control of the AHRS. The next verification step would test the displays or indicators for correct display of data. Basic tool to check out an existing installation for proper operation is a ARINC 429 reader and some kind of J4 Break-Out cable that allows to have access to one of the three ARINC data busses coming from the AHRS. Alternatively you can follow the instructions given in the trouble-shooting procedures. (6) Verify proper AHRS operation using Maintenance Labels Connect ARINC 429 Reader to AHRS Arinc output and switch to read label 350 through 353 - All data bits should be set to 0. If one or more bits are set to 1 please refer to table 14 ff. - If all data bits are 0 but your indicator show invalid data the problem is in the wiring from the AHRS to the indicator.

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(7) Verify programming discretes - Connect ARINC 429 Reader to AHRS Arinc output and switch to read label 303 (input discrete 1) on the ARINC reader. - Verify your installation setup as there are - Mounting position 1 on Bit 14 (set to one if activated) - Mounting position 2 on Bit 15 (set to one if activated) - Parity on Bit 18 (set to one if activated) - DG Mode logic select on Bit 19 (set to one if activated) - Yaw rate SCF 1 on Bit 20 (set to one if activated) - Yaw rate SCF 2 on Bit 21 (set to one if activated) - Arinc Turn Rate select on Bit 22 (set to one if activated) Please check that the sum of activated inputs MUST be an ODD number. You will get non-valid indication of the HSI and ADI if the requirement is not satisfied. (8) Verify input discretes Connect ARINC 429 Reader to AHRS Arinc output and switch to read label 304 (input discrete 2) on the ARINC reader. The description assumes the A/C is On Ground. Verify your installation - Toggle the Selftest Switch in the cockpit and watch Bit 16 to toggle. Alternatively watch the ADI/HSI to indicate a +45 deg Roll, + 5 deg pitch and +15 deg Heading display. This will not work with the AHRS in In Air mode. - Toggle the DG/Mag or Free/Slaved Switch in the cockpit and watch Bit 19 to toggle. Alternatively the HSI may indicate DG-Mode if applicable. - Toggle the Slew Left Switch with the DG/Mag Switch in DG-Mode in the cockpit and watch Bit 21 to toggle. The HSI will decrease heading. - Toggle the Slew Right Switch with the DG/Mag Switch in DG-Mode in the cockpit and watch Bit 22 to toggle. The HSI will increase heading. - Use some kind of tool to toggle the GND/ln Air switch to In Air and watch Bit 23 to toggle. Alternatively you can activate the selftest with the AHRS on ground. This will cause HSI/ADI as explained before. If you set the AHRS into In Air mode, the selftest will be inhibited.

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1.3
Initial AHRS and Indicator Checks
The proper operation of the AHRS together with the displays like HSI/ADI or MFD may be done as follows: (1) Check HSI - Turn A/C clockwise by more than +5 deg. Watch HSI to react respectively. Check out also other indicators like stormscope etc. (2) Check ADI - Release AHRS from tray. - Rotate AHRS +5 deg Pitch (nose up) and watch the ADI to respond respectively. - Rotate AHRS -5 deg Pitch (nose up) and watch the ADI to respond respectively. - Rotate AHRS +5 deg Roll (right wing down) and watch the ADI to respond respectively. - Rotate AHRS -5 deg Roll (left wing down) and watch the ADI to respond respectively. - Check out also other indicators like MFD etc. 1.2 Trouble Shoot AHRS Problems
(1) General description The LITEF AHRS performs two sets of BIT (Built In Tests), one set is performed at power up and another one is performed continuously. If one or more of the tests are faulty, an error indication will prompt the pilot or ground crew for incorrect operation of the AHRS. At this time the AHRS will output the results of the BIT tests on Label 350 through 353 (see activity 1.1(6)). Most of the test results will be latched and at power down this information will be stored in the internal Memory and can be downloaded from the AHRS (see section 2, para 5.5) using special equipment. (2) Recommended tools - To perform activities as described in para 1.1 you will need an ARINC 429 Bus reader and ARINC breakout cable to read one of the three ARINC busses from the AHRS. Alternatively the J4 Break Out box as part of the LITEF Level One TS may be used. - To perform activities as described in section 2, para 5.5 it is recommended to use the LITEF Level One TS P/N 309444-0000. (3) Fault is still present AND you have an ARINC 429 Bus reader - Power down the AHRS pulling the circuit breakers and connect the Bus Reader with the ARINC break out cable. - Connect the ARINC break out cable also with the A/C wiring. - Power up the AHRS - Check with the ARINC reader labels 350 through 353. If there is any fault indication one or more of the data bits are set to 1. Please refer to table 14 to 17 for suggested action(s).

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(4) Fault is not present OR you do not have a ARINC 429 Bus reader. In this case the stored records of the BIT History will be downloaded and analyzed. To do this you need either the Level One TS or an equivalent test tool to read the BIT History. LITEF recommends using the LITEF tool because the SW will be updated on regular basis. New SW will be distributed to all users or on request. It is assumed that the SW has been successfully installed on a desktop or laptop computer. Please refer to the appropriate pages in the User Manual. - Power down the AHRS - Connect the J4 connector with the AHRS and A/C wiring - Connect computer with J4 Break Out box using the interface cable and RS 422 to 232 adapter. Use the 25 pin to 9 pin adapter where applicable. - Switch Maintenance Switch to ON and turn on power to the AHRS - Start SW on laptop, enter PN and SN and select LEVEL 1/MAINTENANCE DATA/READ from main menu. - Press the C key to start the download - The display will show the downloaded information. The records with the highest number (top of record) are the most recent records. Try to match the observations/squawk with the displayed error codes using the overall ETI and recorded ETI as well as the fault indication. Use table 14 to initiate suggested actions. - Please note that the Level One TS will copy this information into a subdirectory structure where the 6 digit and 4 digit partnumber will be used for the structure starting from the root directory and the SN together with a tag number starting at 001 as file name.

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FLIGHT MANAGEMENT SYSTEM
FLIGHT DATA RECORDER
Figure 1 Typical LCR-93 AHRS Installation

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2 2.1
System Integrity General
This chapter deals with the output state of the system during normal operation and for any detected failure either internal to the system or to the inputs. The monitoring and warning criteria are stated, and shown in Tables 1 to 7 inclusive, summarizing the no computed data (NCD) conditions. Failure conditions on the DITS parameters are provided in Tables 8 to 13 inclusive. 2.1.1 AHRS Fault Monitoring Summary
Tables 1 to 7 inclusive itemize each failure condition, data validity check and software test in the system which contributes to the fault monitoring. Then, the logic for combining these to produce the WARN, BITE and SHUTDOWN conditions is provided, together with the discrete output on label 270 and 271 and the failure warning in SSM of the digital binary ARINC outputs. Flight critical failures, i.e. failures which may generate misleading information and affecr aircraft safety, will cause an AHRU shut-down and are marked in the SHUTDOWN column. The discrete outputs heading, attitude, yaw rate, turn rate and AHRS warn are also indicated on label 271. An indication is given as to which tests are latched, after the first failure, to a permanently set state. NOTE The numbers in columns label 270 and 271 indicates which bits within the corresponding word are set to 1. Numbers marked by an asterik indicates the 0 state of these bits.

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SEE TABLES 8/9
Table 1 Monitoring Summary for the Processor Module

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SEE TABLES 8/9
Table 2 Monitoring Summary for the Sensor Tests

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SEE TABLES 8/9
Table 3 Monitoring Summary for the Sensor Tests (continued)

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Table 4 Monitoring Summary for the Power Supply Module

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Table 5 Monitoring Summary for the Interface Module

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Table 6 Monitoring Summary for the Synchro Module

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SEE TABLES 10/11
SEE TABLES 12/13
SEE PARA. 11, SECT. 1
SEE PARAS. 2.1.2, SECT 3 and 8, SECT 1.
SEE TABLES 10/11
Table 7 Monitoring Summary for the various Modes

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NOTES with reference to Tables 1 to 7. S Start up BIT (Power On Self-Test) C Continuous BIT 1) In air, the failure annunciation will be suppressed until 60 seconds after landing. 2) Test performed only On Ground. After landing, the failure annunciation will be suppressed for the first 60 seconds. 3) In DG Mode, the failure annunciation will be suppressed with the exception of labels 300, 306 and 334. 4) Test only, if AHRS is In Air and in MAG Mode. 5) Reaction time depends on flight dynamic. 6) Setting controlled by MSU Calibration Procedure. 7) Tests not performed on P/N -1XXX. 8) Failure will not be stored in the malfunction storage. 9) If not otherwise noted, tolerance "10% 10) Attitude can be set valid before completion of the align phase 2. 11) In DG Mode and MSU Calibration Mode, the failure annunciation will be suppressed with the exception of the ARINC labels for Magnetic Sensor Input (300, 306 and 334) 12) Failure will be flagged after 10 seconds of continuously exceeded acceleration. 13) intentionally not used. 14) Test only, if AHRS is in the Basic Mode 15) Definition of BIT 16 of label 271, example : (16 /-), is dependent on the configuration respectively, the P/N of the AHRU. The first value is valid for the P/N 142185-1XXX and -3101. The second value is valid for the P/N 142185-2XXX and -3XX0. 16) The Basic Mode Annunciation will be suppressed on ground until 30 seconds after take off. Normal Mode will be indicated instead. 17) On landing the mode annunciation will be frozen until the AHRU is switched off or until the A/C takes off again. 18) Test performed only On Ground if the aircraft motion does not exceed certain limits. 19) Failure will be flagged after 4 seconds of continuous fault condition. 20) Test performed only when valid Pressure Altitude is available. 21) P/N 142185-3101 only X set B1 not set - not influenced

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2.1.2
DITS Status Indication
The following tables (Table 9 to table 13 inclusive) show the DITS status (SSM for each label) in case that a specific built-in-test condition is met. NOTE For the assignment of the failure type to the appropriate BITE Test refer to Tables 1 to 7 inclusive.
(1) (2) (3)
for rates in excess of "128 degrees / second for accelerations in excess of "4g for accelerations in excess of "8g Table 8 Failure annunciation on Digital Output

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(2) (4) (5)
for accelerations in excess of "4g for rates in excess of "32 degrees / second for wind speeds in excess of 256 knots and less than 5 knots
Table 9 Failure annunciation on Digital Output (continued)

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The following tables (Table 10 and 11) show the SSM values no computed data (NCD) normal operation (Normal) and functional self-test (TST)
to be set depending on the actual system mode Align Mode MSU Calibration Mode Self-Test Mode and Maintenance Data Mode
N/A indicates output data is not available
(1)
Attitude can be set valid before completion of the align phase 2 Table 10 SSM Indications depending on System Mode

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Table 11 SSM Indications depending on System Mode (continued) NOTES BNR Numeric Data Words (Labels 147, 300, 301, 302, 306, 312, 315, 316, 317, 320, 321, 322, 323, 324, 325, 326, 327, 330, 331, 332, 333, 334, 336, 337, 354, 372, 373, 374, 361, 364, 365, 375, and 376) Normal : NCD : Self-Test : Failure Warning : SSM Bit 31/30 = 1/1 SSM Bit 31/30 = 0/1 SSM Bit 31/30 = 1/0 SSM Bit 31/30 = 0/0
The SSM indications are listed in the order of ascending priority which deviates from the order required by ARINC 429 with respect to NCD and self-test BCD Numeric Data and Discrete Words (Labels 046, 270-273, 303, 304, 350-353 and 377) Normal : SSM Bit 31/30 = 0/0

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The following tables (Table 12 and 13) show which valid input data from external sensors are required in the Operational Mode for normal output data.
X (1) (2)
Data must be available and valid to obtain the computed output label (Normal). Otherwise NCD Magnetic Heading is always valid when in DG Mode. Output label is set valid after 60 seconds filter settling time in Operational Mode after altitude input (label 203) becomes valid. Otherwise NCD
Table 12 Required Input Availability for normal SSM Output

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X (3)
Data must be available and valid to obtain the computed output label (Normal). Otherwise NCD Normal only, if Inertial Altitude is also Normal.
Table 13 Required Input Availability for normal SSM Output (continued)

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Maintenance Discrete Outputs
DITS labels 350 - 353 contain discrete information to assist in fault finding. This information represents the actual failure status of the system and will be provided during normal operation. The following tables define the allocation of these bits.
MAINTENANCE DISCRETE WORD 1, Label 350

BIT No. 1 - 13 14 15 16 FUNCTION not applicable RAM fail EEPROM fail MSU CalPROM fail AHRU defective AHRU defective return AHRU for repair return AHRU for repair 1 POSSIBLE CAUSE ACTION NOTE
CalPROM not installed check installation, CalPROM defective replace CalPROM AHRU defective return AHRU for repair AHRU defective AHRU defective AHRU defective AHRU defective AHRU defective return AHRU for repair return AHRU for repair return AHRU for repair return AHRU for repair return AHRU for repair
17 18 19 20 21 22
Program cycle fail Scheduler fail Real Time Interrupt fail Watch Dog Timer fail Power Interrupt Timer fail Misalignment CalPROM fail
CalPROM not installed check installation, CalPROM defective replace CalPROM AHRU defective return AHRU for repair AHRU defective return AHRU for repair CalPROM not installed check installation, CalPROM defective replace CalPROM AHRU defective return AHRU for repair AHRU defective return AHRU for repair return AHRU for repair check installation check Fan supply voltage and current for 24V/80mA replace Fan if current less than 25mA or more than 160mA return AHRU for repair
23 24
Processor Test fail ACC MON CalPROM fail
25 26 27
EEPROM Access fail not used, always 0 Illegal Trap Exception Fan Supply Monitor
(*) AHRU defective insufficient or excessive current to Fan
28 29 30 - 31 32
not used EEPROM Access fail not used, always 0 SSM (always 0) Odd Parity
(*)
(*) P/N -XXX2 only Table 14 Maintenance Discrete Outputs (Label 350)

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BIT No. 1 - 13 14 15 16 17 FUNCTION not applicable FOG auxiliary control loop fail 1 FOG auxiliary control loop fail 2 Max. Angular Rate exceeded AHRU defective AHRU defective Excessive rates (more than 600_/s) occured AHRU defective 18 Temp. Sensor fail Excessive temperatures during operation AHRU defective Excessive temperatures during operation AHRU defective AHRU defective Excessive dynamics for extended periods, Excessive drift AHRU defective Flux-valve incorrectly installed poor horizontal magnetic field Flux-valve defective AHRU defective AHRU defective AHRU defective return AHRU for repair return AHRU for repair return AHRU for repair check plausibility of excessive rates return AHRU for repair check ambient temperatures return AHRU for repair check ambient temperatures return AHRU for repair return AHRU for repair check flight profile return AHRU for repair return AHRU for repair check installation check for plausibility replace flux-valve return AHRU for repair return AHRU for repair return AHRU for repair POSSIBLE CAUSE ACTION NOTE
FOG Random Pattern Sync. fail AHRU defective
19
Sensor max. temp. exceeded
20 21
Accelerometer NOGO fail Attitude Plausibility Test
22 23
Sensor MUX/ADC fail (instrument failure) MSU Data fail
24 25 26
Acc. data plausibility test Acc. zero delta velocity test Max. acceleration exceeded
Excessive acceleration Check for plausibility (more than 10g) occured) return AHRU for repair AHRU defective AHRU defective return AHRU for repair
27 28 29 30 - 31 32
Vertical earth rate estimation fail not applicable Vertical acc. bias estimation fail SSM (Always 0) Odd parity
AHRU defective
return AHRU for repair
Table 15 Maintenance Discrete Outputs (Label 351)

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BIT No. 1 - 13 14 15 16 17 18 19 20 FUNCTION not applicable DITS self-test fail DITS transmitter not ready DITS wrap-around fail Analog/Digital Converter fail (I/O) Slaving error DAC reference fail Discrete output fail (I/O) MSU reference not available AHRU defective AHRU defective AHRU defective AHRU defective AHRU defective AHRU defective no input signal at J4-60 available AHRU defective Parity of program pins incorrect AHRU defective return AHRU for repair return AHRU for repair return AHRU for repair return AHRU for repair return AHRU for repair return AHRU for repair check availability of jumper J4-39 to J4-60, return AHRU for repair check installation return AHRU for repair POSSIBLE CAUSE ACTION NOTE
21
Program Pin Monitor
22 23
not applicable Heading Plausibility Test fail Flux-valve not calibrate flux-valve calibrated Fluxvalve defective replace flux-valve Flux-valve installation check installation faulty AHRU defective return AHRU for repair
24 - 29 30 - 31 32
not applicable SSM (always 0) Odd parity
Table 16 Maintenance Discrete Outputs (Label 352)

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BIT No. 1 - 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 - 29 30 - 31 32 FUNCTION not applicable Attitude reference unavailable Heading reference 1 unavailable Heading Synchro 1 fail Roll Synchro fail Pitch Synchro fail Yaw Rate DC output fail Turn Rate DC output fail Discrete output fail (Synchro) Heading Synchro 2 fail Heading reference 2 unavailable Normal acc. DC output fail Mux / ADC fail (Synchro) DC output DAC reference fail not applicable SSM (Always 0) Odd parity no external input no external input short circuit in wiring, AHRU defective short circuit in wiring, AHRU defective short circuit in wiring, AHRU defective short circuit in wiring, AHRU defective short circuit in wiring, AHRU defective AHRU defective short circuit in wiring, AHRU defective no external input. short circuit in wiring, AHRU defective AHRU defective AHRU defective check wiring to/from 400 Hz source and AHRU check wiring to/from 400 Hz source and AHRU check wiring to/from synchros. return AHRU for repair check wiring to/from synchros. return AHRU for repair check wiring to/from synchros. return AHRU for repair check wiring return AHRU for repair check wiring return AHRU for repair return AHRU for repair check wiring to/from synchros. return AHRU for repair check wiring to/from 400 Hz source and AHRU. check wiring return AHRU for repair return AHRU for repair return AHRU for repair 2 2 2 POSSIBLE CAUSE ACTION NOTE
Table 17 NOTE 1) 2)
Maintenance Discrete Outputs (Label 353)
Recalibrate AHRU/CalPROM, if CalPROM was replaced not stored into the malfunction memory

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CONFIGURATION DISCRETE WORD, Label 155

BIT No. 1 - 18 9 - 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 - 31 32 FUNCTION Label SDI Synchro H/W present, 1 Hdg ref Synchro H/W present, 2 Hdg ref not used, always 0 GPS extension enabled Basic mode annunciation enabled Yaw/turn rate warn combined Yaw/turn rate exchanged Zero as normal accel. analog test On Ground logic reversed EEPROM fail indication changed Old CNFSEL enabled DADS select enabeled ARINC speed detection enabled not used, always 0 not used, always 0 not used, always 0 not used, always 0 not used, always 0 not used, always 0 SSM (always 0) Odd parity POSSIBLE CAUSE ACTION NOTE
Table 18
Configuration Discrete Outputs (Label 155)

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SECTION 4
REMOVAL / INSTALLATION

TITLE PAGE SECTION 4 Decy 2001
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General
This section provides installation and removal procedures for the AHRUs. The AHRUs may be located in the aircraft electronics rack or in an avionics bay. CAUTION Before any work is carried out on the AHRS which involves the installation and removal of the AHRU, this section must be read and thoroughly understood. Failure to observe these procedures could lead to unnecessary damage to the equipment, e.g. the gasket on the mounting tray. Handle Units with care at all times. Mis-handling could cause damage to sensitive components of the AHRU. CAUTION To prevent possible damage to the AHRS, always pull all AHRS-related aircraft circuit breakers out (off) before removing any unit.
2 CAUTION
Installation of the AHRU (Refer to Figure 1) When performing the following step, do not use sharp-pointed tools to pry out the plug caps because the tools may pierce the plug cap and damage the connector pins. 1. Remove cap plugs from AHRU external connectors.
CAUTION Failure to perform the following step may cause damage to the AHRU connectors and/or mating connectors. 2. 3. 4. 5. Ensure that all connector pins are undamaged and straight, and that no foreign objects are in AHRU connectors and/or mating connectors. Ensure that all AHRS-related circuit breakers are off. Ensure that no tools or other items are in mounting tray or plenum. Hold AHRU in position as shown in Figure 1 (view 2), and place rear end under the keyway. Lower front end with the utmost care so as not to cause damage to the gasket. Engage hold-down fastener. Tighten self-torquing hold-down fastener by turning clockwise until it is tight. Connect 1J1 through 1J5. (When the CalProm is re-attached to J5 the existing compass compensation and mounting alignment correction constants are supplied to the replacement AHRU.)
6. 7. 8.

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Removal of the AHRU (Refer to Figure 2) 1. 2. 3. 4. Pull all AHRU-related circuit breakers out (off). Disconnect 1J1 through 1J5. (Leave CalProm secured to the mounting tray by the retaining cable). Loosen self-torquing hold-down fastener securing AHRU in mounting tray by turning counterclockwise. Grasp AHRU at the front (connector end), and lift to the position as shown in Figure 2 (view 2) (so that the front end will clear the hold-down fastener) and lift the unit clear of the mounting tray, ensuring that NO damage is caused to the gasket..

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INSTALLATION / MAINTENANCE INSTRUCTION 142185 AHRU
KEYWAY
TRAY
GASKET
HOLD-DOWN FASTENER
FRONT END
REAR END
VIEW 1 DO NOT SLIDE AHRU OVER THE GASKET. THIS CAN CAUSE DAMAGE.
AHRU
VIEW 2 HOLD AHRU IN THIS POSITION. PLACE REAR END IN THE KEYWAY, AND LOWER FRONT END WITH THE UTMOST CARE SO AS NOT TO CAUSE DAMAGE TO THE GASKET.
TRAY
GASKET
AHRU
VIEW 3 SECURE AHRU WITH THE HOLD-DOWN FASTENER.
TRAY
GASKET NOTE DRAWINGS NOT ACTUAL AND NOT TO SCALE
Figure 1 Installation of the AHRU
LITEF DOCUMENT No: 1421850000840

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VIEW 1 DO NOT SLIDE AHRU OVER THE GASKET THIS CAN CAUSE DAMAGE
REAR END FRONT END HOLD-DOWN FASTENER
KEYWAY
VIEW 2 MOVE AHRU TO THIS POSITION. LIFT REAR END CLEAR OF THE KEYWAY, AND REMOVE AHRU FROM THE TRAY WITH THE UTMOST CARE SO AS NOT TO CAUSE DAMAGE TO THE GASKET.
VIEW 3 TRAY WITH AHRU REMOVED
NOTE DRAWINGS NOT ACTUAL AND NOT TO SCALE
Figure 2 Removal of the AHRU

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SECTION 5
STORAGE / PACKAGING / TRANSPORTATION

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General
This section provides storage, packaging and transportation procedures for the AHRU. The procedures contain recommended specifications, but their use is not mandatory. CAUTION Handle Units with care at all times. Mis-handling could cause damage to sensitive components of the AHRU.
Storage
The LCR-93 shall be stored in a dry dust free area. Dust free conditions can be ensured by storing the LCR-93 in the original shipping container. 3 NOTE Items subjected to electrostatic damage shall be packaged in anti-static containers or wraps. All repairable items which may be removed from the aircraft and economically restored to a fully serviceable condition shall be shipped to an airline customer in reusable containers. This requirement is specified because of the need to protect the item through shipment, handling, and storage up to the moment of installation, and to repeat the cycle for the life of the item. For the purpose of this specification, reusable shipping containers are designated as follows: Category 1 Reusable for a minimum of 100 round-trips Category 2 Reusable for a minimum of 10 round-trips Category 3* Reusable for a minimum of 1 round-trip (when used for repairable parts, refer to chapter 8 of ATA 300) * applicable to LCR-93. The above categories are differentiated by materials used in the container construction and tests described in specification ATA 300. Consideration of the special packaging, shipping, handling and storage aspects of components shall be provided by the manufacturer because of its superior knowledge of its products.This information should be made available sufficiently in advance of delivery of the unit to the customer to permit orderly physical and financial planning. This information shall include shock sensitivity. magnetic field sensitivity, hazardous materials classification, electrostatic discharge sensitivity, etc. Manufacturers shall publish and provide size (length, width and depth or detailed outline drawings showing all external dimensions if required due to a peculiar part configuration) and gross weight along with any applicable information required. Packaging (References in accordance with ATA 300)

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3.1
Special Packaging Requirements
The manufacturer of the unit or component shall establish and inform the customers of the shelf life and storage instructions of its products. Items subject to abnormal deterioration, corrosion or chemical reaction in storage by exposure to liquids, vapours, gases, or dust shall be packaged in air-tight containers or wraps constructed of inert materials treated to neutralize any captive air with non-toxic results. Marking of each unit package shall be in accordance with Figure 1. Assemblies or components which generate a magnetic field must be packaged and properly spaced in shielding materials which will prevent the magnetic field from adversely affecting adjacent items and instrumentation. In addition, when a part is susceptible to damage from magnetic fields, the container shall provide necessary shielding from outside sources. Items subject to electrostatic damage shall be packaged, marked and/or labelled in accordance with Figure 2. Items which are easily damaged when subjected to shock or vibration found in normal transportation must have those fragility characteristics (the amount of G force to which an item can be subjected without causing damage) documented by the manufacturer. This includes damage boundary curves or a recommended G-levels and acceleration for a given drop height.
Transportation (References in accordance with ATA 300)
The units shipped from the manufacturer to the customer shall be properly classified and described, packaged, marked, labelled, documented and in condition for transport in compliance with applicable regulations and instructions. Location of identification markings are shown in Figure 3.

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Figure 1 Packaging of Electrostatic Discharge Sensitive Devices
LITEF DOCUMENT No: 1421850000840

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Figure 2 Electrostatic Discharge Sensitive Device Labels (typical examples)

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Figure 3 Location of Identification Markings

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To help us upgrading the quality of our publications, LITEF encourages any report of a possible data error that will improve future editions of this publication.
142185-0000-840 LCR93 Attitude and Heading Reference System
Dec 2001
Please mail or FAX completed form to LITEF GmbH. Germany FAX No. is 049 761 4901380 eMail adress is AHRS.Support@LITEF.de REPORT Page 1

LCR 93 InstallationManual

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GmbH

ATTITUDE AND HEADING REFERENCE SYSTEM (AHRS)

LCR-93 PART NO. 142185

INSTALLATION / MAINTENANCE INSTRUCTION

LITEF DOCUMENT NO. 142185-0000-840

ATTITUDE AND HEADING REFERENCE SYSTEM (AHRS)

LCR-93 PART NO. 142185

INSTALLATION / MAINTENANCE INSTRUCTION

LITEF DOCUMENT NO. 142185-0000-840

INSTALLATION / MAINTENANCE INSTRUCTION

ATTITUDE AND HEADING REFERENCE SYSTEM

LCR-93 PART No. 142185

LITEF DOCUMENT No: 142185-0000-840

TP1 Dec 2001

OUTLINE DRAWINGS NOT TO SCALE

LCR93 Attitude and Heading Reference System Frontispiece

description and operation

testing and troubleshooting

removal and installation

storage / packaging / transportation

PREFACE Page1/2 Dec 2001

Adapter to PC/Laptop comm port

J5 adapter J1 adapter J4 adapter

LCR-93 Level 1 Test Set

ROR Page 1 Dec 2001

RECORD OF TEMPORARY REVISIONS

RTR Page 1 Dec 2001

SERVICE BULLETIN LIST

SBL Page 1 Page 1/2 Dec 2001

LEP Page 1/2 Dec 2001

Typical LCR-93 AHRS Installation SECTION 4

Installation of the AHRU Removal of the AHRU SECTION 5

503 504 505

LOT Page 2 Dec 2001

TOC Page 2 Dec 2001

TOC Page 3 Dec 2001

PAGE 210 211 211 211 211

301 301 303 304 307 307 307 316 322

TOC Page 4 Dec 2001

LIST OF ABBREVIATIONS (continued)

Page 2 Dec 2001

LITEF DOCUMENT No: 142185-0000-840

LCR-93 Configuration list Version Standard

LITEF DOCUMENT No: 142185-0000-840

-3102 -1105 -1102 -1100 -3110 X X X X X X

INSTALLATION / MAINTENANCE INSTRUCTION 142185

LITEF DOCUMENT No: 142185-0000-840

SECTION 1 Page 102 Dec 2001

P/N 124282-0000 P/N 124284-0000 (metallized plastic housings)

P/N 124284-2100 P/N 124285-0000

(full metallic housings) (metallized plastic housings)

Compass Controller Unit (CCU, optional)

P/N 140855-0010 P/N 140855-0020 P/N 140855-0030 P/N 140855-0040

Installation Kit for CCU if fitted Level 1 Test Set

P/N 141468-0000 P/N 309444-0000

LITEF DOCUMENT No: 142185-0000-840

Dimensions and Weight Dimensions Configuration

AHRU, see Figs. 4 and 5

MSU, see Figs. 6 to 8 incl.

Mounting Tray ruggedized

MSU CalPROM, see Fig.12

Table 1 Power Consumption