Commands to advance the rod, for standard and back-up undocking, and when necessary, docking, are issued on the command radio line. Tn manned flight these commands may be given from the cosmonaut's panel. To undock from the cosmonaut's panel or from the command radio line, one must first issue commands to remove blocking. Monitoring of the work and state of the docking system is done through telemetry. A number of parameters are monitored, including signals from the contact and linkage sensors and the shifting of the rod using a measurement potentiometer. Automatic transition from approach to docking is efficient and was used later to control docking using other domestic docking devices. 1.5.2 Docking Device of the Soyuz-Salyut Space Complex The main task in creating this principally new and more complex device was the provision of a passage for cosmonauts from one spacecraft to another along a hermetic tunnel. To do this required the solution of a whole range of design problems and organizational-technical issues. Primarily, it was necessary to develop a heavy- duty design and construction of the docking frames with a system of locks for rigid and hermetic joining of the joint. The natural position of the docking mechanism in the center of the frame presented another problem: releasing the tunnel after docking. A great deal of special construction and technological problems had to be resolved, and a method of testing and verification of the hermetic assemblies had to be developed. It was decided to create docking assemblies in the form of structurally and technologically complete assemblies, which significantly facilitated design and subsequent testing and use. The docking mechanism was developed using the old “rod and cone” principle. The docking mechanism with the rod was installed on the hatch of the transition tunnel to the active assembly, and the hatch of the passive assembly was in the form of a receiving cone. This configuration (Figure 1.10) substantially simplified the release of the tunnel; however, it required significant changes to the schematic of the docking mechanism, which was designed on the basis of the earlier scheme
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