AU2004201640B2 - Improved door controller system using method of automatically determining handedness of installation - Google Patents

Description

AUSTRALIA

PATENTS ACT 1990 COMPLETE SPECIFICATION NAME OF APPLICANT(S):: B&D Doors, a division of B&D Australia Pty Ltd ADDRESS FOR SERVICE: DAVIES COLLISON CAVE Patent Attorneys Level 10, 10 Barrack Street,Sydney, New South Wales, Australia, 2000 INVENTION TITLE: Improved door controller system using method for automatically determining handedness of installation The following statement is a full description of this invention, including the best method of performing it known to me/us:- IMPROVED DOOR CONTROLLER SYSTEM USING METHOD FOR AUTOMATICALLY DETERMINING HANDEDNESS OF INSTALLATION BACKGROUND OF THE INVENTION The present invention generally relates to a method, system and/or computer readable medium of instructions for providing improved control over movement of a door, rolling door, sectional door, or like door, and in particular, to a method, system and/or computer readable medium of instructions for automatically determining the sense of rotation (i.e.

clockwise or anti-clockwise) of a gear or other drive mechanism in a door controller system required to open or close the door.

DESCRIPTION OF THE PRIOR ART The present invention is an improvement on the invention described in Australian Patent Application No. 53568/00 in the name of an affiliated company of the present Applicant.

Doors, such as rolling overhead doors or sectional doors, are known to be used on garage openings. Referring to rolling overhead doors by way of example, such doors typically include a flexible door curtain which can be raised and lowered from a drum located above the door aperture. Typically, a pair of end drums are rotatably mounted on a fixed axle extending horizontally across the top of the door aperture. The curtain is secured at its upper end to each of the spaced end drums, and a ring gear is secured to one drum and provided with a motor drive for rotating the drums and thereby raising and lowering the door.

Door controllers of the type having a remote control transmitter which sends a coded signal to a controller coupled to the door drive means for controlling raising and lowering the door are also well known. These controllers often operate in conjunction with mechanically operated upper and lower limit switches and obstruction detection devices.

Recent developments include devices whereby the controllers 'learn' the characteristics of a particular door. For example, in US Patent No. 4831509 (and corresponding family -2members) (in the name of an affiliated company of the present Applicant) a controller is provided which includes a door position encoder for providing signals indicative of the position of the door curtain relative to the door opening, a timing mechanism for providing timing signals for said controller, a processing mechanism responsive to said encoder and said timing mechanism for producing a representation of a door travel speed characteristics, and, a memory device coupled to said processing mechanism for storing representation of a door travel speed characteristics.

Referring to Australian Patent Application No. 53568/00 (in the name ofKalford Pty Ltd an affiliated company of the present Applicant), door controllers for rolling type garage doors may be fitted to either end of the door, depending upon the space or "side room" available beside the door. Successful operation of the door requires the door controller system to 'know' to which end of the door the controller is fitted. If the controller is fitted to the left side (viewed from inside the garage, looking out through the doorway), the ring gear needs to rotate clockwise (viewed from the left hand side of the door) to open the door; if the controller is fitted to the right side, the ring gear needs to rotate counter-clockwise (viewed from the left hand side of the door) to open the door. The information provided from the position gear may, as mentioned, use a gray code form, to prevent ambiguity at transfix. To convert this number into a sequential sector code or number, a look up table is used based on the left/right orientation in relation to the door.

According to this earlier invention the installer is required to physically inform the door controller as to whether left side or right side orientation has been used. This also applies if a modification of the door controller is installed centrally located with respect to the door; the door controller still has a left or right handedness.

As an example illustrating the need for the controller to 'know' whether the ring gear needs to rotate clockwise or anticlockwise, when safety infra red beams (IR beams) are fitted to a garage door controller: if the IR beam is obstructed while the garage door controller is closing, the door should stop and return to the fully open position; or, if the IR beam is obstructed while the door is opening, the door should continue opening to the fully open position. There exist other control functions that require the door controller S(i.e. door opener) to 'know' to which end of the door the controller is fitted.

ct Current technology requires some action by the installer to set 'Left' or 'Right' side 00 installation. Switch setting, jumper configuration or relocation of a control connection moving a motor connection on the control PCB) commonly achieves this L/R selection.

O SUMMARY OF THE INVENTION C The present invention seeks to provide a method, system and/or computer readable medium of instructions for overcoming the disadvantages of the prior art by providing a method, system and/or computer readable medium of instructions for automatically determining the sense of rotation of a gear or other drive mechanism in a door controller system required to open or close a door.

The present invention is directed to the automatic detection of a left side or right side installation. The left side or right side installation corresponds to a required sense of rotation of a gear (or gears) or other drive mechanism in a door controller system to open or close the door. Once detected, this setting can be stored in non-volatile memory of the door controller. This provides a benefit of simplification of the installation and set-up procedure. This should lead to fewer installation errors and faster installation times by technicians. Clockwise or anti-clockwise rotation of the gear or other drive mechanism could be achieved by clockwise or anticlockwise rotation of a motor, however other techniques could also be used, such as engaging or disengaging a gear arrangement.

In a further broad form the present invention provides a method of automatically determining the sense of rotation of a gear or other drive mechanism in a door controller system required to open or close a door, the gear or other drive mechanism configured to be selectively installed in either a right or a left-handed orientation relative to the door, the method including the steps of: providing segment marking means associated with the door, to uniquely represent each of a plurality of segments into which the door is divided; providing sensor means to sense each unique segment marking and chbm A0107978638v2 305571486 Sprovide an output indicative of the position of the door; S(3) during a set-up phase of the door controller system, bringing the door 00 to a first position and generating a first segment code from a first output indicative of said first position of the door; during the set-up phase, bringing the door to a second position and generating a second segment code from a second output indicative of said second position of the door; determining the required sense of rotation of the gear or other drive mechanism to open or close the door based on the ordering of the first segment code and the second segment code; and, providing storage unit means to store the determined required sense of rotation of the gear or other drive mechanism; such that, during normal operation of the door controller system, the door may be moved between open and closed positions in accordance with the stored determined sense of rotation.

The present invention according to one aspect provides that the first position of the door is more than one segment position from the second position of the door.

According to another aspect, the second position of the door is at a limit of travel of the door. According to yet another aspect, the second position of the door is at a lower limit of travel of the door. According to yet another aspect, the lower limit of travel of the door is stored in the storage unit means. Preferably, the sense of rotation of the gear or other drive mechanism corresponds to the door controller system fitted to a left hand side or a right hand side orientation with respect to the door.

According to possible embodiments, the door is a rolling door or sectional door. The invention is also applicable to other types of doors. According to yet another aspect, following a power interruption to the door controller system, the required sense of rotation of the gear or other drive mechanism is not lost. According to still yet another aspect, the door can be manually moved from the first position to the second position. According to still yet another aspect, the door need not be moved monotonically from the first position to the second position. In a further possible specific form, after the lower limit of travel of the door is stored the upper limit of travel of the door is stored.

chbm A0107978638v2 305571486 O In a further broad form the present invention provides a door controller system able Sto automatically determine the sense of rotation of a gear or other drive mechanism in the door controller system required to open or close a door, the gear or other 00 drive mechanism configured to be selectively installed in either a right or a lefthanded orientation relative to the door, the system including: segment marking means associated with the door, to uniquely represent each of a plurality of segments into which the door is divided; (Ni sensor means to sense each unique segment marking and provide an output indicative of the position of the door; at least one processor, the at least one processor being adapted to: generate a first segment code from a first output indicative of a first position of the door when the door is brought into the first position during a set-up phase of the door controller system; generate a second segment code from a second output indicative of a second position of the door when the door is brought to the second position during the set-up phase; determine the required sense of rotation of the gear or other drive mechanism to open or close the door based on the ordering of the first segment code and the second segment code; and, a storage unit to store the determined required sense of rotation of the gear or other drive mechanism; such that during normal operation the door controller system is configured to move the door between open and closed positions in accordance with the stored determined sense of rotation.

Preferably, the storage unit is non-volatile memory. In a specific embodiment of the present invention, the segment marking means is embodied as a plurality of physical chbm A0107978638v2 305571486 O markings located along the length of the door, and, the sensor means are positioned adjacent the opening of the door, whereby the relative position of the door relative to Ctthe door opening are thereby sensed, or vice versa.

00 0In a further specific embodiment of the present invention, the segment marking means is embodied as a rotatable device, operatively connected to the door, the Srotatable device being provided with a plurality of physical markings thereon, and, the O sensor means is located on a stationary device positioned adjacent the rotatable Sdevice, to sense the relative movement of the rotatable device to the stationary device, (Ni or vice versa. The rotatable device is preferably operatively associated with the door 10 via the gear or other drive mechanism, or the rotatable device is, or is part of, the gear (Ni or other drive mechanism itself.

According to another aspect, the segment marking means includes a plurality of protrusions extending along the length of the door or the door opening, respectively.

According to yet another aspect, the segment marking means includes a plurality of radially spaced arcuate protrusions provided on the rotatable device.

In still a further broad form the present invention provides a computer readable medium of instructions for automatically determining the sense of rotation of a gear or other drive mechanism in a door controller system required to open or close a door, the gear or other drive mechanism configured to be selectively installed in either a right or a left-handed orientation relative to the door, the door controller system including: segment marking means associated with the door, to uniquely represent each of a plurality of segments into which the door is divided; sensor means to sense each unique segment marking and provide an output indicative of the position of the door; and a storage unit to store the required sense of rotation of the gear or other drive mechanism; the computer readable medium of instructions adapted to: generate a first segment code from a first output indicative of a first position of the door when the door is brought into the first position during a set-up phase of the door controller system; chbm A0107978638v2 305571486 generate a second segment code from a second output indicative of a second position of the door when the door is brought to the second position during the set-up phase; and 00 determine the required sense of rotation of the gear or other drive mechanism to open or close the door based on the ordering of the first segment code and the second segment code.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention should become more fully understood from the following detailed description of preferred but non-limiting embodiment thereof, described in connection with the accompanying drawings wherein: Figure 1 illustrates a perspective view of an embodiment for monitoring the movement of a door, in accordance with the present invention; Figure 2 illustrates the opto gear interaction with the printed circuit board opto interrupters for the embodiment of figure 1; chbm A0107978638v2 305571486 Figure 3 illustrates a plan view of embodiments of the opto gears is in accordance with the invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENT(S) Throughout the drawings, like numerals are used to identify similar features, except where expressly otherwise indicated. In this section, reference is made to an overhead rolling door arrangement, however it should be appreciated that the invention can equally be applied to other types of doors, for example a sectional garage door. Furthermore, the invention need not be an overhead type door or a garage door.

To accurately control the movement of a door, such as a rolling door or a sectional door, the electronic circuitry utilises various inputs from the mechanism that drives the door.

These inputs are correlated to provide door position information, such as the upper and lower door limits, and, collision detection information, to reverse the door if it collides while closing, or halt the door if it jams when opening. Three inputs are used in the present invention, namely, information from a Position Gear, a Cutter Gear, and, from a Motor Current Sensor (not described here).

In figure 1, is shown part of a door controller system, which includes a ring gear 1, which is attachable to a drum of a rolling overhead door by passing an axle through the axle support 2. Figure 1 shows the operative connection of a position gear 3 and a cutter gear 4 to the ring gear 1 via a follower 5, an opto drive 6, and an idler gear 7. As such, when engaged, the position gear 3 and the cutter gear 4 rotate in the cooperation with ring gear 1, such that their movement is representative of the movement of the door. The position, speed, direction, and/or other movement characteristics of the position gear 3 and the cutter gear 4 are therefore able to the sensed by opto interrupters 8 and 9, respectively.

A plan view of the position gear 3 and the cutter gear 4 are shown in figure 3. As can be seen in figure 3, the position gear 3 is provided with arcuate projections 10, 11, and 12 of varying radius. It will be understood that in the provision of the arcuate projections at selected locations will enable a unique code to be identified by each of the opto interrupters when sensing the presence or absence to the projections 10, 11, and 12 as the position gear 3 rotates. Typically, a three bit grey code may be established by appropriate positioning of the arcuate projections.

In figures 1 to 3, the three-bit gray coded position gear is driven by the ring-gear 1 with a reduction ratio of 0.29:1.0. This allows 7/8ths of one position gear 3 revolution to be unambiguously decoded during the opening of a large door (three ring gear revolutions).

The output of the three-bit encoder is available to the processor controlling the door operation. The drive for the encoder from the ring gear 1 is independent of the clutch, so absolute positional information is retained during movement with the clutch disengaged. The only way to change the relationship between the position gear 3 and the door location is to disengage the ring gear from the door drum.

Figure 3 illustrates eight regions A, B, C, D, E, F, G and H, of position gear 3 which correspond to the three bit grey codes that may be established by appropriate positioning of the arcuate projections illustrated in the figure. Obviously, if a different configuration or number of arcuate projections was used a different number of unique regions of the position gear 3 could be provided.

The information provided from the position gear 3 may, as mentioned, use a gray code form, to prevent ambiguity at transfix. This number may be converted into a sequential sector code, number or the like, eg. A, B, C, D, E, F, G or H. The sector code could be a modulo 8 value which increases as the door moves downwards independent of the door opener mounting, eg. 1, 2, 3, 4, 5, 6, 7 and 8. During the learning of limits, the processor stores the exact position of each gray code transition with output to the high-resolution cutter gear 4 hereinafter described. The position gear 3 is able to be used to re-align the cutter gear 4 after a power outage.

This provides the ability to automatically determine the left side or right side fitting of the door controller system and hence the required direction that gearing, specifically the ring gear 1, needs to rotate to open or close the door.

-9- By entering a 'limit set' (programming) mode of the door controller system with the door at least one detector segment above the lower limit of travel (usually the garage floor), then setting the lower limit, the direction of travel may be detected, allowing the left side or right side fitting of the door controller system to be deduced. Once the lower limit has been set, and given that the left side or right side fitting of the door controller system has been deduced, the drive motor may be engaged by means of the clutch and the motor used to move the door to the desired maximum opening height, allowing the top limit to be set.

It is preferable, but not necessary, to allow the motor to be used to allow the door to be moved to the maximum opening height.

Importantly, this method allows the door to be moved from an initial position (eg. middle of travel) upon entering limit set mode, to the lower limit of travel non-monotonically.

That is, it is possible for the door to be moved upwards or downwards during this process, provided that the final position is the desired lower limit of travel.

For example, referring to figure 3, assume that the position gear 3 as illustrated has been installed on the left hand side of the door, or in a left hand side orientation with respect to the door. To open or close the door the position gear 3 must move in either a clockwise or anti-clockwise sense, depending upon the gearing arrangement between the position gear 3 and the ring gear 1. In the example illustrated in figure 1, to open the door the ring gear 1 is required to rotate in a clockwise sense (when viewed from a direction coming out of the page), when the door controller is installed on the left hand side of the door.

This requires the position gear 3 to rotate in an anti-clockwise sense for this particular gearing arrangement, although the sense of rotation of the position gear 3 is not critical, it is the sense of rotation of the ring gear 1 that is important.

If the position gear 3 rotates in an anti-clockwise direction (when viewed from a direction coming out of the page) the sequence of sector codes passing an arbitrary point will be: C A- B- However, if the position gear 3 rotates in a clockwise direction (when viewed from a direction coming out of the page) the sequence of sector codes passing an arbitrary point will be: H- D- B A H- Thus, if it is assumed that the door is closing, as is required to be done by the installer during set-up operations, then a left hand side installation will generate the A H G F sequence. Whereas, a right hand side installation will generate the A B C D sequence. This can be detected and stored in memory on the door controller so that the sense of rotation of the ring gear 1 is known to open or close the door, without the installer having to make any specific hardware, software or gearing settings for handedness.

This example is obviously illustrative, the actual sequence of sector codes and the sense of rotation of the position gear 3 is dependant on the gearing arrangement between the position gear 3 and the ring gear 1.

Furthermore, although this example assumes that the door controller expects the installer to close the door to execute the set-up procedure, it would be a relatively simple matter to alter the door controller software to expect the installer to open the door to execute the set-up procedure.

Moreover, only two sector codes need be sampled, at a first door position and at a second door position, to obtain the sequence of sector codes, assuming that a full rotation of the position gear 3 has not occurred. This can be assured not to have occurred by providing installation set-up procedure instructions.

Hence, by determining the sequence of sector codes (which could be numerical or otherwise as opposed to alphabetical), and knowing that the door has been closed between a first sensed position and a second sensed position, it can be determined whether left hand side or right hand side installation of the door controller has been used.

-11- This in turn can be used to send instructions to a motor driver so that the correct direction of motor rotation is achieved and imparted to the ring gear 1, depending on the door action (open/close) required.

The following table describes the installer actions and the settings determined by the door controller during, or as a result of these, actions.

Step Action by installer Information detected "Action" by door by door controller controller 1 Manually move the lower edge of the door curtain to a position at least 500mm above the desired lower limit of travel.

2 Enter limit set mode. Identification of a On the door controller sector that is within the this can be achieved by desired travel range pressing a "Limit Set" button.

3 Manually move the door to the desired lower limit of travel.

4 Accept the "lower The lower limit is Store lower limit in limit". On the door identified. By non-volatile memory.

controller this can be comparison of the Store L/R fitting in achieved by pressing starting position sector non-volatile memory the "Limit Set" button. (point with the Allow motor drive lower limit position, circuit to be used if the L/R fitting of the desired to move door units can be deduced to upper limit of travel.

Move the lower edge of the door curtain to the desired maximum opening position (upper limit) 6 Accept the "upper The upper limit is Store upper limit in limit". On the door identified non-volatile memory.

controller this can be achieved by pressing the "Limit Set" button.

-12- 7 The door controller is now ready to "learn" the force required to drive the door through the full range of travel.

To accurately determine the position and velocity of the door, a 34 tooth bi-phasic cutter gear 4 is driven from the ring-gear 1, independent of the clutch mechanism. The teeth of this gear 4 pass through a pair of opto electric devices, such as LEDs and appropriate sensors, such that upon rotation a pulse train is provided to the processor. The "tooth velocity" may typically be 1 tooth per millimetre of door travel. Using a quadrature encoder algorithm, both speed and directional displacement may therefore be derived from the cutter gear 4 and its related sensor devices. This positional count fr-om the cutter gear 4 is realigned on each edge transition of the position gear. The derived speed output is used to detect door stall, independent of the motor current. This enables the system to identify conditions, such as operation with the clutch disengaged. In this instance, the motor current will not show an overload but the door velocity will remain at zero. The door opener will therefore halt, showing an error. Without this feature, the door opener motor would run for 30 seconds before timing out and stopping.

When the door opener is initially installed the open and closed limits must initially be set, such that the desired region of movement is established. As such, a learn procedure is initially required to be undertaken. This can be done manually by moving the door to each extreme position and manually activating limit set switches.

When not reset or learning limits, the door controller will be in one of the following states: State Description Open Door stationary at upper limit Opening Door driving upwards -13- State Description Closed Door stationary at lower limit Closing Door driving upwards Paused Opening Door stationary after pause while moving upwards The door then moves according to the following rules: Current State Action Next Action Open Operate Closing Autoclose Closing Opening Operate Paused Opening Upper Limit Open Collision Halted with error Paused Opening Operate Closing Closed Operate Opening Closing Operate Opening Lower Limit Closed Collision Opening Paused Closing Operate Opening A typical sequence of movement is; Closed (Press operate) Opening (Reached upper limit) Open Open (Press operate) Closing (Reached lower limit) Closed If the operate button is repeatedly pressed while the door is moving, it will following this -14sequence: Opening Paused Opening Closing Paused Closing Opening...

If a mains power interruption occurs, then a restart procedure must be followed. When power to the door opener has been interrupted, the exact door position is lost as this is not stored in EEPROM. There is no reason to store the door position, as while the power was off, the clutch may have been disengaged and the door moved. Therefore any stored information may be erroneous. When power is re-applied, the firmware uses the position gear 3 opto interrupters 8 to get an approximation for the door position. If the door is in the lower region of travel (ie: lower sectors), the door will move upward on the next activation. If the door is in the upper region of travel then it will move down on next activation. This is deemed the safe operating direction, and is most likely to produce the operator's expectation of movement as the door is usually left either fully open or fully closed. This also allows the largest travel before collision with a physical limit. This ensures that the door will travel through a sector boundary before the actual limit is reached. When movement next crosses an absolute position encoder sector boundary, the position monitoring circuit will be realigned from the sector transition table stored in EEPROM. Once the position counter has been realigned, door movement will perform as per normal operation.

A possible implementation of a computer readable medium of instructions, for example software, firmware or hardware, for left/right handed autodetection is now presented as pseudocode.

Limit set function entered by pressing limit set button current door position position 1 position limit set mode was entered Wait for limit set button push required user input: set bottom limit If no button push, time-out and exit limit set function Button push received door at bottom limit of travel position bottom of door store in EEPROM is (position 1 bottom of door)? If true: Exit limit set function If false: Is (position 1 bottom of door)? If true: left side 1 we do not know LHS or RHS store in EEPROM Else: Left side 0 store in EEPROM Wait for limit set button push required user input to set top limit If no button push, time-out and exit limit set function Button push received door is now at top limit of trav position top of door store in EEPROM validate limits: If (left side 1) and (top of door bottom of door) exit limit set function. limits are valid If (left side 0) and (top of door bottom of door) exit limit set function. limits are valid If (left side 1) and (top of door bottom of door) Top of door 0 limits are NOT valid reset Bottom of door 0 Set error flag for action outside this function exit limit set function.

If (left side 0) and (top of door bottom of door) Top of door 0 limits are NOT valid Bottom of door 0 Set error flag exit limit set function.

1el -16- Notes for pseudocode: Upon exiting the limit set function the following data is stored in EEPROM: 1. left side 1 or 0. This indicates the side of the door on which the motor is mounted.

This is determined from the change in absolute position of the door from 'position 1' to 'bottom of door'. This is validated in set XX.

2. Top of door and bottom of door are recorded. These are the absolute positions of the limits of door travel.

3. Left side or right side is validated by comparison of'left side', the limits of the door travel.

The combination of cutter and position encoders, mean that a door with correctly set limits will never collide with its travel end-points, irrespective of power outage or clutch use. From a users perspective they will not be aware that the power has been interrupted and may manually open the door at any time without affecting the doors operation.

It should be noted that until the position counter has been realigned, the door will not travel (in the unsafe direction) beyond the power-up position. For example, if the door was nearly closed then the door cannot be fully closed until it has moved passed a sector transition boundary. This mode of operation will be very rarely, if ever, observed.

It should also be noted that if the door has been moved more than approximately 50 cm outside the previously learned limits, then when the power is restored the limits will not be reset. This is a fail-sale mode that prevents the software from making an erroneous assumption about door position. Subsequently when operate is pressed the Limit Set LED will flash to indicates an unknown limit condition. To rectify either manually move the door back within the programmed limits range or re-program limits.

Whilst a particular embodiment of a position gear has been hereinbefore described, it will be appreciated that the positioning of the arcuate projections 10, 11 and 12 may be varied to conform to other 'codes'. Also, it will be appreciated that rather than providing arcuate projections on a rotatable position gear 3, that similar projections, or alternative -17means, may be provided on the door opening, on the door itself, or otherwise.

In the embodiment described, the position gear 3 is utilised to monitor the position only of the door, and the cutter gear 4 is used to monitor the speed and direction only of the door movement. It will be appreciated by persons skilled in the art, that the position gear 3 and the cutter gear 4 may be effectively combined into one rotatable device whereby the opto interrupters may additionally determine speed and direction, and/or, further opto interrupters may be provided on only one rotatable device to monitor such speed, direction, velocity, or other movement characteristics.

Use of a three-bit gray code as described in the preferred embodiments provides eight unique sectors of movement. The largest of doors it typically designed to only need to travel through seven of these sectors, noting that the start and finish sectors are not significant as the code effectively wraps around. However, other codings and other numbers of bits may be used depending upon the particular door and the desirability to have more or less door movement monitoring and control.

The preferred embodiment has been described utilising gears, however, it should be appreciated that the present invention could be embodied utilising other drive mechanisms. For example, belt drive, direct drive, etc. mechanisms could be utilised in place of part or all of the previously described geared mechanism.

It will also be appreciated that numerous variations and modifications may be enacted to the particular algorithms to operation and control the movement of the door. All such variations and modifications which become apparent to persons skilled in the art should be considered to fall within scope of the invention as broadly hereinbefore described and as hereinafter claimed.

The reference to any prior art in this specification is not, and should not be taken as, an acknowledgment or any form of suggestion that such prior art forms part of the common general knowledge.

Claims (23)

1. A method of automatically determining the sense of rotation of a gear or other drive mechanism in a door controller system required to open or close a door, the 00 0 gear or other drive mechanism configured to be selectively installed in either a right or a left-handed orientation relative to the door, the method including the steps of: providing segment marking means associated with the door, touniquely represent each of a plurality of segments into which the door is divided; providing sensor means to sense each unique segment marking and provide an output indicative of the position of the door; during a set-up phase of the door controller system, bringing the door to a first position and generating a first segment code from a first output indicative of said first position of the door; during the set-up phase, bringing the door to a second position and generating a second segment code from a second output indicative of said second position of the door; determining the required sense of rotation of the gear or other drive mechanism to open or close the door based on the ordering of the first segment code and the second segment code; and, providing storage unit means to store the determined required sense of rotation of the gear or other drive mechanism; such that, during normal operation of the door controller system, the door may be moved between open and closed positions in accordance with the stored determined sense of rotation.

2. The method as claimed in claim 1, wherein the first position of the door is more than one segment position from the second position of the door.

3. The method as claimed in either claim 1 or 2, wherein the second position of the door is at a limit of travel of the door.

4. The method as claimed in claim 3, wherein the second position of the door is at a lower limit of travel of the door. chbm A0107978638v2 305571486 O

5. The method as claimed in claim 4, further including that the lower limit of travel of the door is stored in the storage unit means.

S6. The method as claimed in any one of the claims I to 5, wherein the sense of 00 rotation of the gear or other drive mechanism is either clockwise or anti-clockwise.

7. The method as claimed in claim 6, wherein the sense of rotation of the gear or other drive mechanism corresponds to the door controller system fitted to a left IND hand side or a right hand side of the door.

8. The method as claimed in any one of the claims 1 to 7, wherein the door is a Srolling door or a sectional door. ("4

9. The method as claimed in any one of the claims 1 to 8, wherein following a power interruption to the door controller system, the required sense of rotation of the gear or other drive mechanism is not lost.

The method as claimed in any one of the claims 1 to 9, wherein the door can be manually moved from the first position to the second position.

11. The method as claimed in any one of the claims 1 to 10, wherein the door need not be moved monotonically from the first position to the second position.

12. The method as claimed in claim 5, wherein after the lower limit of travel of the door is stored the upper limit of travel of the door is stored.

13. A door controller system able to automatically determine the sense of rotation of a gear or other drive mechanism in the door controller system required to open or close a door, the gear or other drive mechanism configured to be selectively installed in either a right or a left-handed orientation relative to the door, the system including: segment marking means associated with the door, to uniquely represent each of a plurality of segments into which the door is divided; sensor means to sense each unique segment marking and provide an output indicative of the position of the door; at least one processor, the at least one processor being adapted to.: chbm AO107978638v2 305571486 generate a first segment code from a first output indicative of a first position of the door when the door is brought Ctinto the first position during a set-up phase of the door 00 controller system; generate a second segment code from a second output O indicative of a second position of the door when the door is Sbrought to the second position during the set-up phase; C, determine the required sense of rotation of the gear or other drive mechanism to open or close the door based on the c 10 ordering of the first segment code and the second segment code; and, a storage unit to store the determined required sense of rotation of the gear or other drive mechanism; such that during normal operation the door controller system is configured to move the door between open and closed positions in accordance with the stored determined sense of rotation.

14. The system as claimed in claim 13, wherein the storage unit is non-volatile memory.

The system as claimed in claim 13, wherein the segment marking means is embodied as a plurality of physical markings located along the length of the door, and, the sensor means are positioned adjacent the opening of the door, whereby the relative position of the door relative to the door opening. are thereby sensed, or vice versa.

16. The system as claimed in claim 13, wherein the segment marking means is embodied as a rotatable device, operatively connected to the door, the rotatable device being provided with a plurality of physical markings thereon, and, the sensor means is located on a stationary device positioned adjacent the rotatable device, to sense the relative movement of the rotatable device to the stationary device, or vice versa.

17. The system as claimed in claim 16, wlerein the rotatable device is operatively associated with the door via the gear or other drive mechanism. chbm A0107978638v2 305571486

18. The system as claimed in claim 15, wherein the segment marking means includes a plurality of protrusions extending along the length of the door or the door Ctopening, respectively. 00 00

19. The system as claimed in claim 16, wherein the segment marking means includes a plurality of radially spaced arcuate protrusions provided on the rotatable device.

The system as claimed in any one of the claims 13 to 19, the at least one processor being adapted to perform the method of any one of the claims 1 to 12.

21. A computer readable medium of instructions for automatically determining the sense of rotation of a gear or other drive mechanism in a door controller system required to open or close a door, the gear or other drive mechanism configured to be selectively installed in either a right or a left-handed orientation relative to the door, the door controller system including: segment marking means associated with the door, to uniquely represent each of a plurality of segments into which the door is divided; sensor means to sense each unique segment marking and provide an output indicative of the position of the door; and a storage unit to store the required sense of rotation of the gear or other drive mechanism; the computer readable medium of instructions adapted to: generate a first segment code from a first output indicative of a first position of the door when the door is brought into the first position during a set-up phase of the door controller system; generate a second segment code from a second output indicative of a second position of the door when the door is brought to the second position during the set-up phase; and determine the required sense of rotation of the gear or other drive mechanism to open or close the door based on the ordering of the first segment code and the second segment code. chbm A0107978638v2 305571486

22. A method of automatically determining the sense of rotation of a gear or other drive mechanism in a door controller system required to operate a door, substantially as herein described with reference to the accompanying drawings. 0 0

23. A system for automatically determining the sense of rotation of a gear or other drive mechanism in a door controller required to operate a door, substantially as herein described with reference to the accompanying drawings. chbm A0107978638v2 305571486