Stepper motor door control apparatus and method
First Claim
1. In door movement control apparatus for providing movement of at least one door to a desired position in accordance with an input movement request signal and providing a desired speed pattern for that movement, the combination ofstepper motor means coupled with the door for moving the load in at least one direction,sensor means coupled with the door for providing a door movement indicating signal, andmeans coupled with said stepping motor and responsive to said movement request signal for providing a predetermined number of control pulses to energize the stepping motor for providing a movement of said door in said one direction, with the control pulse providing means being responsive to the door movement indicating signal and including a memory containing a desired time delay to determine a motor step taken in response to each control pulse and having a time duration established as a function of the number of control pulses previously provided to the stepper motor for moving the door in said one direction and to establish said desired speed pattern.
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Accused Products
Abstract
A door movement control apparatus and method are provided for opening and closing door apparatus with a stepper motor supplied control pulses in response to a command signal indicating the desired movement direction. A table of time delays for the respective control pulses and resulting motor steps provides a desired speed pattern for the door movement. A comparison of the number of motor steps taken with the number of control pulses provided is made to determine when a closing door is obstructed.
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Citations
8 Claims
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1. In door movement control apparatus for providing movement of at least one door to a desired position in accordance with an input movement request signal and providing a desired speed pattern for that movement, the combination of
stepper motor means coupled with the door for moving the load in at least one direction, sensor means coupled with the door for providing a door movement indicating signal, and means coupled with said stepping motor and responsive to said movement request signal for providing a predetermined number of control pulses to energize the stepping motor for providing a movement of said door in said one direction, with the control pulse providing means being responsive to the door movement indicating signal and including a memory containing a desired time delay to determine a motor step taken in response to each control pulse and having a time duration established as a function of the number of control pulses previously provided to the stepper motor for moving the door in said one direction and to establish said desired speed pattern.
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6. In a door movement control method for providing one of an opening direction movement and a closing direction movement of a door coupled with a stepper motor and responsive to a movement request signal, the steps of
providing control pulses to said motor in response to said movement request signal for energizing the motor to take a step for each control pulse, establishing a predetermined movement of the door for each step taken by said motor, providing a movement indicating signal for each predetermined movement of the door, and comparing the number of said provided control pulses with the number of said provided movement indicating signals to determine when a motor step is taken in response to a control pulse.
Specification