Automatic door operator including electronic travel detection

• US 5,218,282 A
• Filed: 03/22/1990
• Issued: 06/08/1993
• Est. Priority Date: 03/22/1990
• Status: Expired due to Term

• Current Assignee: The Chamberlain Group, Inc. (The Chamberlain Group LLC)
• Original Assignee: Stanley Home Automation, Inc. (Stanley Black & Decker, Inc.)
• Inventors: Duhame, Dean
• Primary Examiner(s): Ip, Paul
• Application Number:
  US07/496,796
• Time in Patent Office: 1,174 Days
• Field of Search: 318/268-293, 318/560-640, 318/430-434, 318/16, 318/267, 318/266, 318/480, 318/469, 49/25, 49/360, 49/280, 49/167, 49/194, 49/199, 49/357, 49/358, 49/59
• US Class Current: 318/603
• CPC Class Codes: E05F 15/41 Detection by monitoring transmitted force or torque E05F15/48 takes precedence; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
• CPC Class Codes: E05F 15/668 for overhead wings
• CPC Class Codes: E05Y 2400/31 Force or torque control
• CPC Class Codes: E05Y 2400/315 Curve setting or adjusting
• CPC Class Codes: E05Y 2400/554 sensing motor load
• CPC Class Codes: E05Y 2400/564 sensing motor speed
• CPC Class Codes: E05Y 2400/58 Sensitivity setting or adjustment
• CPC Class Codes: E05Y 2800/00 Details, accessories and auxiliary operations not otherwise provided for
• CPC Class Codes: E05Y 2900/106 for garages
• CPC Class Codes: H02H 3/006 Calibration or setting of parameters
• CPC Class Codes: H02H 3/44 responsive to the rate of change of electrical quantities
• CPC Class Codes: H02H 7/0851 for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
• CPC Class Codes: H02H 7/0854 responsive to rate of change of current, couple or speed, e.g. anti-kickback protection H02H7/0851 takes precedence
• CPC Class Codes: H02H 7/093 against increase beyond, or decrease below, a predetermined level of rotational speed centrifugal switches H01H35/10

Abstract

The present invention is an automatic door operator which includes an obstruction detector for at least stopping the motor when the detected motor speed indicates a motor torque greater than the selected closing torque limit while closing the door, and for at least stopping the motor when the detected motor speed indicates a motor torque greater than the selected opening torque limit while opening the door. The motor speed is detected based upon a predetermined count of electrical pulses corresponding to motor shaft rotation in order smooth noise. Selection of the number of pulses per rotation enables the same controller to control motors operating on either 60 Hz or 50 Hz power. A travel count of rotation pulses permits identification of a plurality of regions in the opening and closing travel of the door and corresponding adaptive torque limits. The travel counter may also be employed for detection of the fully opened and fully closed limits. The controller can be used to control either a four-pole motor or a six-pole motor via a manual motor type selection switch, which selects a torque limit table.

Claims

1. An automatic door operator for controlling a motor coupled for closing and opening a door, said automatic door operator comprising:

a motor speed detector coupled to the motor for detecting the speed of the motor;

means for independently setting opening and closing torque limits by a user including a user settable closing torque limit input device for selecting a closing torque limit and a user settable opening torque limit input device for selecting an opening torque limit; and

a controller connected to said motor speed detector, said closing torque limit input device and said opening torque limit input device for controlling them motor to open and close the door, said controller including an obstruction detector operative to

at least stop the motor to stop movement of the door when the detected motor speed indicates a closing motor torque greater than said selected closing torque limit when the motor is closing the door, and

at least stop the motor to stop movement of the door when the detected motor speed indicates an opening motor torque greater than said selected opening torque limit when the motor is opening the door.

2. The automatic door operator as claimed in claim 1, wherein:

speed detector includes a rotation pulse generator coupled to a rotating shaft of the motor for producing electrical pulses corresponding to rotation of the shaft of the motor.

3. The automatic door operator as claimed in claim 2, wherein:

said motor speed detector further includes a counter connected to said pulse generator for generating a count pulse upon counting a predetermined number of said electrical pulses.

4. The automatic door operator as claimed in claim 3, wherein:

said predetermined number of said electrical pulses of said counter is eight.

5. The automatic door operator as claimed in claim 2, wherein said automatic door operator may optionally be installed for operation on 60 Hz AC power or 50 Hz AC power, and wherein:

the number of electrical pulses per each rotation of the shaft of the motor of said rotation pulse generator is selectable in manufacture, the selected number being a first number of pulses if said automatic garage door operator is installed for operation on 60 Hz AC power and being a second number of pulses if said automatic garage door operator is installed for operation on 50 Hz AC power, said second number of pulses being one fifth more than said first number of pulses.

6. The automatic door operator as claimed in claim 5, wherein:

said first number of pulses is 10 and said second number of pulses is 12.

7. The automatic door operator as claimed in claim 2, wherein:

said rotation pulse generator includes

a multipole magnet disposed for rotation with rotation of the shaft of the motor, and

at least one magnetic detector disposed in proximity to said multipole magnet for generating one of said electrical pulses upon rotation of each pole of said multipole magnet past said at least one magnetic detector.

8. The automatic door operator as claimed in claim 7, wherein:

said at least one magnetic detector comprises a Hall effect sensor.

9. The automatic door operator as claimed in claim 7, wherein said automatic door operator may optionally be installed for operation on 60 Hz AC power or 50 Hz AC power, and wherein:

said multipole has a number of poles selectable in manufacture, said number of poles being a first number of poles if said automatic door operator is installed for operation on 60 Hz AC power and being a second number of poles magnet if said automatic garage door operator is installed for operation on 50 Hz AC power, said second number of poles being one fifth more than said first number of poles.

10. The automatic door operator as claimed in claim 9, wherein:

said first number of poles is 10 and said second number of poles is 12.

11. The automatic door operator as claimed in claim 2, further comprising:

a travel counter connected to said rotation pulse generator for counting said electrical pulses;

an adaptive closing torque limit memory for storing an adaptive closing torque limit for each of a plurality of regions of door closing travel;

an adaptive opening torque limit memory for storing an adaptive opening torque limit for each of a plurality of regions of door opening travel; and

said controller being further connected to said travel counter, said adaptive closing torque limit memory and said adaptive opening torque limit memory, said obstruction detector being further operative to

determine the current region within said plurality of regions door closing travel from a count of said travel counter when the motor is closing the door,

determine the current region within said plurality of regions door opening travel from said count of said travel counter when the motor is opening the door,

store in said adaptive closing torque limit memory for each of said plurality of regions of door closing travel a new adaptive closing torque limit upon each closing of the door, said new adaptive closing torque limit being a weighted sum of said prior adaptive closing torque limit for the corresponding region of door closing travel and the actual torque corresponding to an average motor speed signal for said region of door closing travel,

store in said adaptive opening torque limit memory for each of said plurality of regions of door opening travel a new adaptive opening torque limit upon each opening of the door, said new adaptive opening torque limit being a weighted sum of said prior adaptive opening torque limit memory for the corresponding region of door closing travel and the actual torque corresponding to an average motor speed signal for the said region of door opening travel,

when the motor is closing the door at least stop the motor to stop movement of the door when the detected motor speed indicates a closing motor torque greater than the lesser of

     1) said closing torque limit selected by said operator settable closing torque limit input device and

     2) said adaptive closing torque limit stored in adaptive closing torque limit memory for the current region of door closing travel, and

when the motor is opening the door at least stop the motor to stop movement of the door when the detected motor speed indicates an opening motor torque greater than the lesser of

     1) said opening torque limit selected by said operator settable opening torque limit input device and

     2) said adaptive opening torque limit stored in adaptive opening torque limit memory for the current region of door opening travel.

12. The automatic door operator as claimed in claim 11, wherein:

said obstruction detector

calculates said new adaptive closing torque limit as follows;

space="preserve" listing-type="equation">ACL.sub.(i,new) =(1-W.sub.c)×

ACL.sub.(i,old) +W.sub.c ×

M.sub.c ×

Sp

where;

ACL.sub.(i,new) is the new adaptive closing torque limit for region i;

W_c is a closing weighting factor, 0<

W_c <

1;

ACL.sub.(i,old) is the prior adaptive closing torque limit for region i;

M_c is a closing margin factor greater than 1; and

Sp is the average motor speed during closing within region i, and

calculates said new adaptive opening torque limit as follows;

space="preserve" listing-type="equation">AOL.sub.(i,new)=( 1-W.sub.o)×

AOL.sub.(i,old) +W.sub.o ×

M.sub.o ×

SP

where;

AOL.sub.(i,new) is the new adaptive opening torque limit for region i;

W_o is a opening weighting factor, 0<

W_o <

1;

AOL.sub.(i,old) is the prior adaptive opening torque limit for region i;

M_o is a opening margin factor greater than 1; and

Sp is the average motor speed during opening within region i.

13. The automatic door operator as claimed in claim 11, further comprising:

a close travel memory for storing therein a close travel count corresponding to movement of the door to a fully closed position;

an open travel memory for storing therein an open travel count corresponding to movement of the door to a fully opened position; and

wherein said controller is further connected to said close travel memory and said open travel memory and include travel limit means operative to

stop the motor to stop movement of the door when said count of said travel counter reaches said close travel count when closing the door, and

stop the motor to stop movement of the door when said count of said travel counter reaches said open travel count when opening the door.

14. The automatic door operator as claimed in claim 11, further comprising:

a backup power supply for powering at least said rotation pulse generator and said travel counter during failure of primary electric power.

15. The automatic door operator as claimed in claim 11, further comprising:

an electrically alterable programmable read only memory for storing predetermined data including at least said adaptive closing torque limit memory and said adaptive opening torque limit memory, said electrically alterable programmable read only memory having data storage capacity at least twice as great as required by said predetermined data; and

a write cycle means connected to said electrically alterable programmable read only memory operative to

count the number of write cycles to said electrically alterable programmable read only memory, and

transfer said predetermined data to a previously unused portion of said electrically alterable programmable read only memory, change all access of said predetermined data to said previously unused portion of said electrically alterable programmable read only memory, and reset said count of the number of write cycles when said count of the number of write cycles exceeds a predetermined number.

16. The automatic door operator as claimed in claim 2, further comprising:

a travel counter connected to said rotation pulse generator for counting said electrical pulses;

a closing torque rate of change limit memory for storing a closing torque rate of change limit for each of a plurality of regions of door closing travel;

an opening torque rate of change limit memory for storing an opening rate of change torque limit for each of a plurality of regions of door opening travel; and

said controller being further connected to said travel counter, said closing torque rate of change limit memory and said opening torque rate of change limit memory, said obstruction detector being further operative to

determine the current region within said plurality of regions door closing travel from a count of said travel counter when the motor is closing the door,

determine the current region within said plurality of regions door opening travel from said count of said travel counter when the motor is opening the door,

continuously determine the rate of change of motor speed when the motor is closing the door,

when the motor is closing the door at least stop the motor to stop movement of the door when the detected rate of change of motor speed indicates a closing rate of change of motor torque greater than said closing torque rate of change limit stored in said closing torque rate of change limit memory for the current region of door closing travel,

continuously determine the rate of change of motor speed when the motor is opening the door, and

when the motor is opening the door at least stop the motor to stop movement of the door when the detected rate of change of motor speed indicates an opening rate of change of motor torque greater than said opening torque rate of change limit stored in said opening torque rate of change limit memory for the current region of door opening travel.

17. The automatic door operator as claimed in claim 2, further comprising:

a travel counter connected to said rotation pulse generator for counting said electrical pulses;

a close travel memory for storing therein a close travel count corresponding to movement of the door to a fully closed position;

an open travel memory for storing therein an open travel count corresponding to movement of the door to a fully opened position; and

wherein said controller is further connected to said travel counter, said close travel memory and said open travel memory and includes travel limit means operative to

stop the motor to stop movement of the door when said count of said travel counter reaches said close travel count when closing the door, and

stop the motor to stop movement of the door when said count of said travel counter reaches said open travel count when opening the door.

18. The automatic door operator as claimed in claim 17, further comprising:

an operator settable close travel count input device for setting said close travel count;

an operator settable open travel count input device for setting said open travel count.

19. The automatic door operator as claimed in claim 17, further comprising:

a backup power supply for powering at least said rotation pulse generator and said travel counter during failure of primary electric power.

20. The automatic door operator as claimed in claim 17, further comprising:

an electrically alterable programmable read only memory for storing predetermined data including at least said close travel count memory and said open travel count memory, said electrically alterable programmable read only memory having data storage capacity at least twice as great as required by said predetermined data; and

a write cycle means connected to said electrically alterable programmable read only memory operative to

count the number of write cycles to said electrically alterable programmable read only memory, and

transfer said predetermined data to a previously unused portion of said electrically alterable programmable read only memory, change all access of said predetermined data to said previously unused portion of said electrically alterable programmable read only memory, and reset said count of the number of write cycles when said count of the number of write cycles exceeds a predetermined number.

21. The automatic door operator as claimed in claim 1, wherein:

said user settable closing torque limit input device includes first manually operable means for selecting one of a first plurality of predetermined closing torque limits; and

said user settable opening torque limit input device includes second manually operable means for selecting one of a second plurality of predetermined opening torque limits, said first plurality of predetermined closing torque limits being greater in number than said second plurality of predetermined opening torque limits.

22. The automatic door operator as claimed in claim 21, wherein:

said first manually operable means consists of a first plurality of first electrical connectors equal in number to the number of said first plurality of predetermined closing torque limits and a first mating connector user connectable with only one of said first electrical connectors; and

said second manually operable means consists of a second plurality of second electrical connectors equal in number to the number of said second plurality of predetermined opening torque limits and a second mating connector user connectable with only one of said second electrical connectors.

23. The automatic door operator as claimed in claim 21, wherein:

said first manually operable means consists of a first multiposition switch having a first plurality of switch positions equal in number to the number of said first plurality of predetermined closing torque limits; and

said second manually operable means consists of a multiposition switch having a second plurality of switch positions equal in number to the number of said second plurality of predetermined opening torque limits.

24. The automatic door operator as claimed in claim 21, wherein:

said first plurality of predetermined closing torque limits consists of eight predetermined closing torque limits; and

said second plurality of predetermined opening torque limits consists of four predetermined opening torque limits.

25. The automatic door operator as claimed in claim 21, wherein said automatic door operator may optionally be installed employing either a four-pole motor or a six-pole motor, said automatic door operator further comprising:

a motor type manual selection input device for indicating that said automatic door operator is installed employing the four-pole motor or employing a six-pole motor;

a torque limit table memory having predetermined torque limits stored therein for

each of said first plurality predetermined closing torque limits for the four-pole motor,

each of said second plurality of predetermined opening torque limits for the four-pole motor,

each of said first plurality of predetermined closing torque limits for the six-pole motor, and

each of said second plurality of predetermined opening torque limits for the six-pole motor; and

wherein said controller is further connected to said motor type manual selection input device and said torque limit table memory and further includes torque limit table recall means operative to

recall said closing torque limit from said torque limit table memory corresponding to said selection of said first manually operable means and the indication of said motor type manual selection input device, and

recall said opening torque limit from said torque limit table memory corresponding to said selection of said second manually operable means and the indication of said motor type manual selection input device.

26. The automatic door operator as claimed in claim 25, wherein:

said motor type manual selection input device is constructed for indicating that said automatic door operator is installed employing the four-pole motor upon failure of the operator to make a selection of motor type; and

said predetermined torque limits stored in said torque limit table memory include

a first plurality of predetermined closing torque limits for the four-pole motor which are less than the corresponding first plurality of predetermined closing torque limits for the six-pole motor, and

a second plurality of predetermined opening torque limits for the four-pole motor which are less than the corresponding second plurality of predetermined opening torque limits for the six-pole motor; and

wherein said torque limit table recall means, upon failure of the operator to make said selection of motor type, is operative to

recall from said torque limit table memory said closing torque limit corresponding to said selection of said first manually operable means for the four-pole motor, and

recall from said torque limit table memory said opening torque limit corresponding to said selection of said second manually operable means for the four-pole motor.

27. The automatic door operator as claimed in claim 1, wherein:

said operator settable closing torque limit input device includes

a first potentiometer having a manually operable resistance setting, and

a first analog to digital convertor connected to said first manually operable potentiometer for generating a first digital indication of said manually operable resistance setting of said first potentiometer;

said operator settable opening torque limit input device includes

a second potentiometer having a manually operable resistance setting, and

a second analog to digital convertor connected to said second manually operable potentiometer for generating a second digital indication of said manually operable resistance setting of said second potentiometer; and

said obstruction detector further operative to

convert said digital indication of said manually operable resistance setting of said first potentiometer into a corresponding closing torque limit having a first range, and

convert said digital indication of said manually operable resistance setting of said second potentiometer into a corresponding opening torque limit having a second range less that said first range.

28. The automatic door operator as claimed in claim 1, wherein:

said obstruction detector is further operative to

stop the motor to stop movement of the door upon detection of an obstruction when the motor is opening the door, and

stop and reverse the motor to stop and reverse movement of the door upon detection of an obstruction when the motor is closing the door.

29. An automatic door operator for controlling a motor coupled for closing and opening a door, said automatic door operator comprising:

a rotation pulse generator coupled to a rotating shaft of the motor for producing electrical pulses corresponding to rotation of the shaft of the motor;

an operator settable closing torque limit input device for selecting a closing torque limit;

an operator settable opening torque limit input device for selecting an opening torque limit;

a travel counter connected to said rotation pulse generator for counting said electrical pulses;

a close travel memory for storing therein a close travel count corresponding to movement of the door to a fully closed position;

an open travel memory for storing therein an open travel count corresponding to movement of the door to a fully opened position; and

a controller connected to said rotation pulse generator, said closing torque limit input device, said opening torque limit input device, said travel counter, said close travel memory and said open travel memory for controlling the motor to open and close the door, said controller including means operative to

stop the motor to stop movement of the door when said count of said travel counter reaches said close travel count when closing the door,

stop the motor to stop movement of the door when said count of said travel counter reaches said open travel count when opening the door;

detect the motor speed from said electrical pulses of said rotation pulse generator,

at least stop the motor to stop movement of the door when the detected motor speed indicates a closing motor torque greater than said selected closing torque limit when the motor is closing the door, and

at least stop the motor to stop movement of the door when the detected motor speed indicates an opening motor torque greater than said selected opening torque limit when the motor is opening the door.

30. The automatic door operator as claimed in claim 29, wherein said automatic door operator may optionally be installed for operation on 60 Hz AC power or 50 Hz AC power, and wherein:

the number of electrical pulses per each rotation of the shaft of the motor of said rotation pulse generator is selectable in manufacture, the selected number being a first number of pulses if said automatic garage door operator is installed for operation on 50 Hz AC power and being a second number of pulses if said automatic garage door operator is installed for operation on 60 Hz AC power, said second number of pulses being one fifth more than said first number of pulses.

31. The automatic door operator as claimed in claim 30, wherein:

said first number of pulses is 10 and said second number of pulses is 12.

32. The automatic door operator as claimed in claim 29, wherein:

said rotation pulse generator includes

a multipole magnet disposed for rotation with rotation of the shaft of the motor, and

at least one magnetic detector disposed in proximity to said multipole magnet for generating one of said electrical pulses upon rotation of each pole of said multipole magnet past said at least one magnetic detector.

33. The automatic door operator as claimed in claim 32, wherein:

said at least one magnetic detector comprises a Hall effect sensor.

34. The automatic door operator as claimed in claim 29, further comprising:

an adaptive closing torque limit memory for storing a adaptive closing torque limit for each of a plurality of regions of door closing travel;

an adaptive opening torque limit memory for storing an adaptive opening torque limit for each of a plurality of regions of door opening travel; and

said controller being further connected to said adaptive closing torque limit memory and said adaptive opening torque limit memory, said controller being further operative to

determine the current region within said plurality of regions door closing travel from a count of said travel counter when the motor is closing the door,

determine the current region within said plurality of regions door opening travel from said count of said travel counter when the motor is opening the door,

store in said adaptive closing torque limit memory for each of said plurality of regions of door closing travel a new adaptive closing torque limit upon each closing of the door, said new adaptive closing torque limit being a weighted sum of said prior adaptive closing torque limit for the corresponding region of door closing travel and the actual torque corresponding to an average motor speed signal for said region of door closing travel,

store in said adaptive opening torque limit memory for each of said plurality of regions of door opening travel a new adaptive opening torque limit upon each opening of the door, said new adaptive opening torque limit being a weighted sum of said prior adaptive opening torque limit memory for the corresponding region of door closing travel and the actual torque corresponding to an average motor speed signal for the said region of door opening travel,

at least stop the motor to stop movement of the door when the detected motor speed indicates a closing motor torque greater than the lesser of

     1) said closing torque limit selected by said operator settable closing torque limit input device and

     2) said adaptive closing torque limit stored in adaptive closing torque limit memory for the current region of door closing travel said when the motor is closing the door, and

at least stop the motor to stop movement of the door when the detected motor speed indicates an opening motor torque greater than the lesser of

     1) said opening torque limit selected by said operator settable opening torque limit input device and

     2) said adaptive opening torque limit stored in adaptive opening torque limit memory for the current region of door opening travel when the motor is opening the door.

35. The automatic door operator as claimed in claim 34, wherein:

said controller being further operative to

calculate said new adaptive closing torque limit as follows;

space="preserve" listing-type="equation">ACL(.sub.(i,new) =(1-W.sub.c)×

ACL.sub.(i,old) +W.sub.c ×

M.sub.c ×

Sp

where;

ACL.sub.(i,new) is the new adaptive closing torque limit for region i;

W_c is a closing weighing factor, 0<

W_c <

1;

ACL.sub.(i,old) is the prior adaptive closing torque limit for region i;

M_c is a closing margin factor greater than 1; and

Sp is the average motor speed during closing within region i, and

calculate said new adaptive opening torque limit as follows;

space="preserve" listing-type="equation">AOL(.sub.(i,new) =(1-W.sub.o)×

AOL.sub.(i,old) +W.sub.o ×

M.sub.o ×

Sp

where;

AOL.sub.(i,new) is the new adaptive opening torque limit for region i;

W_o is a opening weighing factor, 0<

W_o <

1;

AOL.sub.(i,old) is the prior adaptive opening torque limit for region i;

M_o is a opening margin factor greater than 1; and

Sp is the average motor speed during opening within region i.

36. The automatic door operator as claimed in claim 29, further comprising:

a closing torque rate of change limit memory for storing a closing torque rate of change limit for each of a plurality of regions of door closing travel;

an opening torque rate of change limit memory for storing an opening rate of change torque limit for each of a plurality of regions of door opening travel; and

said controller being further connected to said travel counter, said closing torque rate of change limit memory and said opening torque rate of change limit memory, said obstruction detector being further operative to

determine the current region within said plurality of regions door closing travel from a count of said travel counter when the motor is closing the door,

determine the current region within said plurality of regions door opening travel from said count of said travel counter when the motor is opening the door,

continuously determine the rate of change of motor speed when the motor is closing the door,

when the motor is closing the door at least stop the motor to stop movement of the door when the detected rate of change of motor speed indicates a closing rate of change of motor torque greater than said closing torque rate of change limit stored in said closing torque rate of change limit memory for the current region of door closing travel,

continuously determine the rate of change of motor speed when the motor is opening the door, and

when the motor is opening the door at least stop the motor to stop movement of the door when the detected rate of change of motor speed indicates an opening rate of change of motor torque greater than said opening torque rate of change limit stored in said opening torque rate of change limit memory for the current region of door opening travel.

37. The automatic door operator as claimed in claim 29, further comprising:

an operator settable close travel count input device for setting said close travel count; and

an operator settable open travel count input device for setting said open travel count.

38. The automatic door operator as claimed in claim 37, wherein:

said operator settable close travel count input device consists of a close limit momentary contact push button switch coupled to said controller;

said operator settable open travel count input device consists of an open limit momentary contact push button switch coupled to said controller;

said controller being further operative to

advance said close travel count of said close travel memory toward more fully closed if said close limit momentary contact push button switch is activated when the motor is closing the door, and

advance said open travel count of said open travel memory toward more fully open if said open limit momentary contact push button switch is activated when the motor is opening the door.

39. The automatic door operator as claimed in claim 37, wherein:

said operator settable close travel count input device consists of a close limit momentary contact push button switch coupled to said controller;

said operator settable open travel count input device consists of an open limit momentary contact push button switch coupled to said controller;

said controller being further operative to

store an indication of the last direction of movement of the motor if the motor is not operating,

advance said close travel count of said close travel memory toward more fully closed if said close limit momentary contact push button switch is activated when the motor is closing the door, and when the motor is stopped and last direction of movement of the motor was closing the door,

advance said close travel count of said close travel memory toward less fully closed if said close limit momentary contact push button switch is activated when the motor is opening the door, and when the motor is stopped and last direction of movement of the motor was opening the door,

advance said open travel count of said open travel memory toward more fully opened if said open limit momentary contact push button switch is activated when the motor is opening the door, and when the motor is stopped and last direction of movement of the motor was opening the door, and

advance said open travel count of said open travel memory toward less fully opened if said open limit momentary contact push button switch is activated when the motor is closing the door, and when the motor is stopped and last direction of movement of the motor was closing the door.

40. The automatic door operator as claimed in claim 37, wherein:

said operator settable close travel count input device consists of a close limit momentary contact push button switch coupled to said controller;

said operator settable open travel count input device consists of an open limit momentary contact push button switch coupled to said controller;

said controller being further operative to

advance said close travel count of said close travel memory toward more fully closed upon activation of said close limit momentary contact push button switch, and

advance said open travel count of said open travel memory toward more fully open upon activation of said open limit momentary contact push button switch, and

reset said close travel count of said close travel memory to a first predetermined count and reset said open travel count of said open travel memory to a second predetermined count nearer fully open that said first predetermined count upon simultaneous activation of both said close limit momentary contact push button switch and said open limit momentary contact push button switch.

41. The automatic door operator as claimed in claim 37, wherein:

said operator settable close travel count input device consists of a close limit three position switch coupled to said controller having first and second momentary contact positions and a center off position;

said operator settable open travel count input device consists of an open limit button switch coupled to said controller having first and second momentary contact positions and a center off position;

said controller being further operative to

advance said close travel count of said close travel memory toward more fully closed upon activation of said first momentary contact position of said close limit switch,

advance said close travel count of said close travel memory toward less fully closed upon activation of said second momentary contact position of said close limit switch,

advance said open travel count of said open travel memory toward more fully open upon activation of said first momentary contact position of said close limit switch, and

advance said open travel count of said open travel memory toward less fully open upon activation of said second momentary contact position of said close limit switch.

42. The automatic door operator as claimed in claim 37, wherein:

said travel counter has a predetermined count range greater than the expected maximum number of said rotation pulses generated during travel between said fully closed position and said fully open position;

said close travel memory has said predetermined count range;

said open travel memory has said predetermined count range;

said automatic door operator further comprising;

a travel count reset means connected to said travel counter for setting the count within said travel counter to a predetermined number approximately half of said predetermined count range upon initial application of electric power to said automatic door operator.

43. The automatic door operator as claimed in claim 42, further comprising:

an open limit count reset means connected to said open travel memory for setting the count within said open travel memory to an open limit count reset number not greater than said predetermined number of said travel count reset means; and

a close limit reset means connected to said close travel memory for setting the count within said close travel memory to a close limit count reset number greater than said predetermined number of said travel count reset means.

44. The automatic door operator as claimed in claim 29, further comprising:

a backup power supply for powering at least said rotation pulse generator and said travel counter during failure of primary electric power.

45. The automatic door operator as claimed in claim 29, further comprising:

an electrically alterable programmable read only memory for storing predetermined data including at least said close travel count memory and said open travel count memory, said electrically alterable programmable read only memory having data storage capacity at least twice as great as required by said predetermined data; and

a write cycle means connected to said electrically alterable programmable read only memory operative to

count the number of write cycles said electrically alterable programmable read only memory, and

transfer said predetermined data to a previously unused portion of said electrically alterable programmable read only memory, change all access of said predetermined data to said previously unused portion of said electrically alterable programmable read only memory, and reset said count of the number of write cycles when said count of the number of write cycles exceeds a predetermined number.

46. An automatic door operator for controlling a motor coupled for closing and opening a door, said automatic door operator comprising:

a rotation pulse generator coupled to a rotating shaft of the motor for producing electrical pulses corresponding to rotation of the shaft of the motor;

a travel counter connected to said rotation pulse generator for counting said electrical pulses, said travel counter having a predetermined count range;

a close travel memory for storing therein a close travel count corresponding to movement of the door to a fully closed position, said close travel count having said predetermined count range;

an open travel memory for storing therein an open travel count corresponding to movement of the door to a fully opened position, said open travel count having said predetermined count range;

a counter reset load means connected to said travel counter, said close travel memory and said open travel memory operative upon each initial application of electric power to said automatic door operator to

set said travel count in said travel counter to a first predetermined number near the middle of said predetermined count range,

set said close travel count in said close travel memory to a second predetermined number not greater than said first predetermined number, and

set said open travel count in said open travel memory to a third predetermined number greater than said first predetermined number;

a controller connected to said close travel memory and said open travel memory and operative to

stop the motor to stop movement of the door when said count of said travel counter reaches said close travel count when closing the door, and

stop the motor to stop movement of the door when said count of said travel counter reaches said open travel count when opening the door.

47. The automatic door operator as claimed in claim 46, further comprising:

an operator settable close travel count input device for setting said close travel count;

an operator settable open travel count input device for setting said open travel count.

48. The automatic door operator as claimed in claim 47, wherein:

said operator settable close travel count input device consists of a close limit momentary contact push button switch coupled to said controller;

said operator settable open travel count input device consists of an open limit momentary contact push button switch coupled to said controller;

said controller being further operative to

advance said close travel count of said close travel memory toward more fully closed if said close limit momentary contact push button switch is activated when the motor is closing the door, and

advance said open travel count of said open travel memory toward more fully open if said open limit momentary contact push button switch is activated when the motor is opening the door.

49. The automatic door operator as claimed in claim 47, wherein:

said operator settable close travel count input device consists of a close limit momentary contact push button switch coupled to said controller;

said operator settable open travel count input device consists of an open limit momentary contact push button switch coupled to said controller;

said controller being further operative to

store an indication of the last direction of movement of the motor if the motor is not operating,

advance said close travel count of said close travel memory toward more fully closed if said close limit momentary contact push button switch is activated when the motor is closing the door and when the motor is stopped and last direction of movement of the motor was closing the door,

advance said close travel count of said close travel memory toward less fully closed if said close limit momentary contact push button switch is activated when the motor is opening the door and when the motor is stopped and last direction of movement of the motor was opening the door,

advance said open travel count of said open travel memory toward more fully opened if said open limit momentary contact push button switch is activated when the motor is opening the door and when the motor is stopped and last direction of movement of the motor was opening the door, and

advance said open travel count of said open travel memory toward less fully opened if said open limit momentary contact push button switch is activated when the motor is closing the door and when the motor is stopped and last direction of movement of the motor was closing the door.

50. The automatic door operator as claimed in claim 46, wherein:

said operator settable close travel count input device consists of a close limit momentary contact push button switch coupled to said controller;

said operator settable open travel count input device consists of an open limit momentary contact push button switch coupled to said controller;

said controller being further operative to

advance said close travel count of said close travel memory toward more fully closed upon activation of said close limit momentary contact push button switch, and

advance said open travel count of said open travel memory toward more fully open upon activation of said open limit momentary contact push button switch, and

reset said close travel count of said close travel memory to a first predetermined count and reset said open travel count of said open travel memory to a second predetermined count nearer fully open that said first predetermined count upon simultaneous activation of both said close limit momentary contact push button switch and said open limit momentary contact push button switch.

51. The automatic door operator as claimed in claim 46, wherein:

said operator settable close travel count input device consists of a close limit three position switch coupled to said controller having first and second momentary contact positions and a center off position;

said operator settable open travel count input device consists of an open limit button switch coupled to said controller having first and second momentary contact positions and a center off position;

said controller being further operative to

advance said close travel count of said close travel memory toward more fully closed upon activation of said first momentary contact position of said close limit switch,

advance said close travel count of said close travel memory toward less fully closed upon activation of said second momentary contact position of said close limit switch,

advance said open travel count of said open travel memory toward more fully open upon activation of said first momentary contact position of said close limit switch, and

advance said open travel count of said open travel memory toward less fully open upon activation of said second momentary contact position of said close limit switch.

52. The automatic door operator as claimed in claim 46, further comprising:

a backup power supply for powering at least said rotation pulse generator and said travel counter during failure of primary electric power.

53. The automatic door operator as claimed in claim 46, further comprising:

an electrically alterable programmable read only memory for storing predetermined data including at least said close travel count memory and said open travel count memory, said electrically alterable programmable read only memory having data storage capacity at least twice as great as required by said predetermined data; and

a write cycle means connected to said electrically alterable programmable read only memory operative to

count the number of write cycles to said electrically alterable programmable read only memory, and

transfer said predetermined data to a previously unused portion of said electrically alterable programmable read only memory, change all access of said predetermined data to said previously unused portion of said electrically alterable programmable read only memory, and reset said count of the number of write cycles when said count of the number of write cycles exceeds a predetermined number.