If you haven't completed it yet
this page from Cmdr's Toolbox has the map for the site you're at. When you first get there drive up to the top of the structure (far left on the map) to the altar and that should activate the first pylon (and a couple of Guardian sentinels). Shoot the sentinels but not the pylon yet - you don't need to be looking for the pylons and panicking over the timer running out. Activate the other 5 pylons one by one, in any order, collecting relics as those towers come up as well. Once you get the 6th pylon, shoot the blue glowy bit (you need to be more or less facing it directly) to activate it and start the timer.
Each time you shoot another pylon, it adds a couple of minutes to the timer so you should have 9 or 10 minutes left by the time you get back to the last one by the altar (or whichever way around you do it). Jettison a relic over the little panel between the 6th pylon and the altar (you may need the external camera to line up the SRV, the panel should be between the middle wheels, but it didn't seem that critical to me) and The Giant Glowing Orb Of Knowledge™ will appear. Target it, scan it, and congratulations on your new Module Blueprint. Oh, and don't forget to collect all Obelisk data, components from the detachable panels, and bit of Sentinel wreckage as you go.
When I got the Guardian FSD Booster months ago it didn't matter which order you went looking for the pylons, but it seems these days you have to go the altar first to get the first pylon, then the others will appear as you get close to them.