Abstract:
A movable barrier operator includes a wall control switch module having a learn switch thereon. The switch module is connectable to a control unit positioned in a head of a garage movable barrier operator. The head unit also contains an electric motor which is connected to a transmission for opening and closing a movable barrier such as a garage door. The switch module includes a plurality of switches coupled to capacitors which, when closed, have varying charge and discharge times to enable which switch has been closed. The control unit includes an automatic force incrementing system for adjusting the maximal opening and closing force to be placed upon the movable barrier during a learn operation. Likewise, end of travel limits can also be set during a learn operation upon installation of the unit. The movable barrier operator also includes an ambient temperature sensor which is used to derive a motor temperature signal, which motor temperature signal is measured and is used to inhibit motor operation when further motor operation exceeds or is about to exceed set point temperature limits.

Description:
This is a continuation of prior application no. 09/587,207, filed Jun. 5, 2000, now U.S. Pat. No. 6,310,451, which is a continuation of prior application no. 08/957,316, filed Oct. 23, 1997, now U.S. Pat. No. 6,107,765, which is a continuation of prior application no. 08/703,015, filed Aug. 26, 1996, now abandoned, which is a divisional of no. 08/467,039, filed Jun. 6, 1995, now abandoned, which are hereby incorporated herein by reference in their entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     The invention relates in general to a movable barrier operator for opening and closing a movable barrier or door. More particularly, the invention relates to a garage door operator that can learn force and travel limits when installed and can simulate the temperature of its electric motor to avoid motor failure during operation. 
     A number of garage door operators have been sold over the years. Most garage door operators include a head unit containing a motor having a transmission connected to it, which may be a chain drive or a screw drive, which is coupled to a garage door for opening and closing the garage door. Such garage door openers also have included optical detection systems located near the bottom of the travel of the door to prevent the door from closing on objects or on persons that may be in the path of the door. Such garage door operators typically include a wall control which is connected via one or more wires to the head unit to send signals to the head unit to cause the head unit to open and close the garage door, to light a worklight or the like. Such prior art garage door operators also include a receiver and head unit for receiving radio frequency transmissions from a hand-held code transmitter or from a keypad transmitter which may be affixed to the outside of the garage or other structure. These garage door operators typically include adjustable limit switches which cause the garage door to operate or to halt the motor when the travel of the door causes the limit switch to change state which may either be in the up position or in the down position. This prevents damage to the door as well damage to the structure supporting the door. It may be appreciated, however, that with different size garages and different size doors, the limits of travel must be custom set once the unit is placed within the garage. In the past, such units have had mechanically adjustable limit switches which are typically set by an installer. The installer must go back and forth between the door, the wall switch and the head unit in order to make the adjustment. This, of course, is time consuming and results in the installer being forced to spend more time than is desirable to install the garage door operator. 
     A number of requirements are in existence from Underwriter&#39;s Laboratories, the Consumer Product Safety Commission and the like which require that garage door operators sold in the United States must, when in a closing mode and contacting an obstruction having a height of more than one inch, reverse and open the door in order to prevent damage to property and injury to persons. Prior art garage door operators also included systems whereby the force which the electric motor applied to the garage door through the transmission might be adjusted. Typically, this force is adjusted by a licensed repair technician or installer who obtained access to the inside of the head unit and adjusts a pair of potentiometers, one of which sets the maximal force to be applied during the closing portion of door operation, the other of which establishes the maximum force to be applied during the opening of door operation. 
     Such a garage door operator is exemplified by an operator taught in U.S. Pat. No. 4,638,443 to Schindler. However, such door operators are relatively inconvenient to install and invite misuse because the homeowner, using such a garage door operator, if the garage door operator begins to bind or jam in the tracks, may likely obtain access to the head unit and increase the force limit. Increasing the maximal force may allow the door to move passed a binding point, but apply the maximal force at the bottom of its travel when it is almost closed where, of course, it should not. 
     Another problem associated with prior art garage door operators is that they typically use electric motors having thermostats connected in series with portions of their windings. The thermostats are adapted to open when the temperature of the winding exceeds a preselected limit. The problem with such units is that when the thermostats open, the door then stops in whatever position it is then in and can neither be opened or closed until the motor cools, thereby preventing a person from exiting a garage or entering the garage if they need to. 
     SUMMARY OF THE INVENTION 
     The present invention is directed to a movable barrier operator which includes a head unit having an electric motor positioned therein, the motor being adapted to drive a transmission connectable to the motor, which transmission is connectable to a movable barrier such as a garage door. A wired switch is connectable to the head unit for commanding the head unit to open and close the door and for commanding a controller within the head unit to enter a learn mode. The controller includes a micro-controller having a non-volatile memory associated with it which can store force set points as well as digital end of travel positions within it. When the controller is placed in learn mode by appropriate switch closure from the wall switch, the door is caused to cycle open and closed. The force set point stored in the non-volatile memory is a relatively low set point and if the door is placed in learn mode and the door reaches a binding position, the set point will be changed by increasing the set point to enable the door to travel through the binding area. Thus, the set points will be dynamically adjusted as the door is in the learn, but the set points will not be changeable once the door is taken out of the learn mode, thereby preventing the force set point from being inadvertently increased, which might lead to property damage or injury. Likewise, the end of travel positions can be adjusted automatically when in the learn mode because if the door is halted by the controller, when the controller senses that the door position has reached the previously set end of travel position, the door will then be commanded by a button push from the wall switch to keep travelling in the same direction, thereby incrementing or changing. The end of travel limits are set by pushing the learn button on the wall switch which causes the door to travel upward and continue travelling upward until the door has travelled as far as the operator wishes it to travel. The disables the learn switch by lifting his hand from the button. The up limit is then stored and the door is then moved toward the closed position. A pass point or position normalizing system consisting of a ring-like light interrupter attached to the garage door crosses the light path of an optical obstacle detector signalling instantaneously the position of the door and the door continues until it closes, where-upon force sensing in the door causes an auto-reverse to take place and then raises the door to the up position, the learn mode having been completed and the door travel limits having been set. 
     The movable barrier operator also includes a combination of a temperature sensor and microcontroller. The temperature sensor senses the ambient temperature within the head unit because it is positioned in proximity with the electric motor. When the electric motor is operated, a count is incremented in the microcontroller which is multiplied by a constant which is indicative of the speed at which the motor is moving. This incremented multiplied count is then indicative of the rise in temperature which the motor has experienced by being operated. The count has subtracted from it the difference between the simulated temperature and the ambient temperature and the amount of time which the motor has been switched off. The totality of which is multiplied by a constant. The remaining count then is an indication of the extant temperature of the motor. In the event that the temperature, as determined by the microcontroller, is relatively high, the unit provides a predictive function in that if an attempt is made to open or close the garage door, prior to the door moving, the microcontroller will make a determination as to whether the single cycling of the door will add additional temperature to the motor causing it to exceed a set point temperature and, if so, will inhibit operation of the door to prevent the motor from being energized so as to exceed its safe temperature limit. 
     The movable barrier operator also includes light emitting diodes for providing an output indication to a user of when a problem may have been encountered with the door operator. In the event that further operation of the door operator will cause the motor to exceed its set point temperature, an LED will be illuminated as a result of the microcontroller temperature prediction indicating to the user that the motor is not operating because further operation will cause the motor to exceed its safe temperature limits. 
     It is a principal aspect of the present invention to provide a movable barrier operator which is able to quickly and automatically select end of travel positions. 
     It is another aspect of the present invention to provide a movable barrier operator which, upon installation, is able to quickly establish up and down force set points. 
     It is still another aspect of the present invention to provide a movable barrier operator which can determine the temperature of the motor based upon motor history and the ambient temperature of the head unit. 
     Other aspects and advantages of the invention will become obvious to one of ordinary skill in the art upon a perusal of the following specification and claims in light of the accompanying drawings. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a perspective view of a garage having mounted within it a garage door operator embodying the present invention; 
     FIG. 2 is a block diagram of a controller mounted within the head unit of the garage door operator employed in the garage door operator shown in FIG. 1; 
     FIG. 3A-C schematic diagram of the controller shown in block format in FIG. 2; 
     FIG. 4 is a schematic diagram of a receiver module shown in the schematic diagram of FIG. 3; 
     FIG. 5A-B are a flow chart of a main routine that executes in a microcontroller of the control unit; 
     FIGS. 6A-G are a flow diagram of a learn routine executed by the microcontroller; 
     FIGS. 7A-B are flow diagrams of a timer routine executed by the microcontroller; 
     FIGS. 8A-B are flow diagrams of a state routine representative of the current and recent state of the electric motor; 
     FIGS. 9A-B are a flow chart of a tachometer input routine and also determines the position of the door on the basis of the pass point system and input from the optical obstacle detector; 
     FIGS. 10A-C are flow charts of the switch input routines from the switch module; and 
     FIG. 11 is a schematic diagram of the switch module and the switch biasing circuit. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     Referring now to the drawings and especially to FIG. 1, more specifically a movable barrier door operator or garage door operator is generally shown therein and referred to by numeral  10  includes a head unit  12  mounted within a garage  14 . More specifically, the head unit  12  is mounted to the ceiling of the garage  14  and includes a rail  18  extending therefrom with a releasable trolley  20  attached having an arm  22  extending to a multiple paneled garage door  24  positioned for movement along a pair of door rails  26  and  28 . The system includes a hand-held transmitter unit  30  adapted to send signals to an antenna  32  positioned on the head unit  12  and coupled to a receiver as will appear hereinafter. An external control pad  34  is positioned on the outside of the garage having a plurality of buttons thereon and communicate via radio frequency transmission with the antenna  32  of the head unit  12 . A switch module  39  is mounted on a wall of the garage. The switch module  39  is connected to the head unit by a pair of wires  39   a . The switch module  39  includes a learn switch  39   b , a light switch  39   c , a lock switch  39   d  and a command switch  39   e . An optical emitter  42  is connected via a power and signal line  44  to the head unit. An optical detector  46  is connected via a wire  48  to the head unit  12 . A pass point detector  49  comprising a bracket  49   a  and a plate structure  49   b  extending from the bracket has a substantially circular aperture  49   c  formed in the bracket, which aperture might also be square or rectangular. The pass point detector is arranged so that it interrupts the light beam on a bottom leg  49   d  and allows the light beam to pass through the aperture  49   c . The light beam is again interrupted by the leg  49   e , thereby signalling the controller via the optical detector  46  that the pass point detector attached to the door has moved passed a certain position allowing the controller to normalize or zero its position, as will be appreciated in more detail hereinafter. 
     As shown in FIG. 2, the garage door operator.  10 , which includes the head unit  12  has a controller  70  which includes the antenna  32 . The controller  70  includes a power supply  72  which receives alternating current from an alternating current source, such as 110 volt AC, and converts the alternating current to +5 volts zero and 24 volts DC. The 5 volt supply is fed along a line  74  to a number of other elements in the controller  70 . The 24 volt supply is fed along the line  76  to other elements of the controller  70 . The controller  70  includes a super-regenerative receiver  80  coupled via a line  82  to supply demodulated digital signals to a microcontroller  84 . The receiver is energized by a line  86  coupled to the line  74 . The microcontroller is also coupled by a bus  86  to a non-volatile memory  88 , which non-volatile memory stores set points and other customized digital data related to the operation of the control unit. An obstacle detector  90 , which comprises the emitter  42  and infrared detector  46  is coupled via an obstacle detector bus  92  to the micro-controller. The obstacle detector bus  92  includes lines  44  and  48 . The wall switch  39  is connected via the connecting wires  39   a  to a switch biasing module  96  which is powered from the 5 volt supply line  74  and supplies signals to and is controlled by the microcontroller via a bus  100  coupled to the microcontroller. The microcontroller, in response to switch closures, will send signals over a relay logic line  102  to a relay logic module  104  connected to an alternating current motor  106  having a power take-off shaft  108  coupled to the transmission  18  of the garage door operator. A tachometer  110  is coupled to the shaft  108  and provides a tachometer signal on a tachometer line  112  to the microcontroller  84 . The tachometer signal being indicative of the speed of rotation of the motor. 
     The power supply  72  includes a transformer  130  which receives alternating current on leads  132  and  134  from an external source of alternating current. The transformer steps down the voltage to 24 volts and feeds 24 volts to a pair of capacitors  138  and  140  which provide a filtering function. A 24 volt filtered DC potential is supplied on the line  76  to the relay logic  104 . The potential is fed through a resistor  142  across a pair of filter capacitors  144  and  146 , which are connected to a 5 volt voltage regulator  150 , which supplies regulated 5 volt output voltage across a capacitor  152  and a Zener diode  154  to the line  74 . 
     Signals may be received by the controller at the antenna  32  and fed to the receiver  80 . The receiver  80  includes a pair of inductors  170  and  172  and a pair of capacitors  174  and  176  that provide impedance matching between the antenna  32  and other portions of the receiver. An NPN transistor  178  is connected in common base configuration as a buffer amplifier. Bias to the buffer amplifier transistor  178  is provided by resistors  180 . A resistor  188 , a capacitor  190 , a capacitor  192  and a capacitor  194  provide filtering to isolate a later receiver stage from the buffer amplifier  178 . An inductor  196  also provides power supply buffering. The buffered RF output signal is supplied on a line  200 , coupled between the collector of the transistor  178  and a receiver module  202  which is shown in FIG.  4 . The lead  204  feeds into the unit  202  and is coupled to a biasing resistor  220 . The buffered radio frequency signal is fed via a coupling capacitor  222  to a tuned circuit  224  comprising a variable inductor  226  connected in parallel with a capacitor  228 . Signals from the tuned circuit  220  are fed on a line  230  to a coupling capacitor  232  which is connected to an NPN transistor  234  at its based  236 . The transistor has a collector  240  and emitter  242 . The collector  240  is connected to a feedback capacitor  246  and a feedback resistor  248 . The emitter is also coupled to the feedback capacitor  246  and to a capacitor  250 . The line  210  is coupled to a choke inductor  256  which provides ground potential to a pair of resistors  258  and  260  as well as a capacitor  262 . The resistor  258  is connected to the base  236  of the transistor  234 . The resistor  260  is connected via an inductor  264  to the emitter  242  of the transistor. The output signal from the transistor is fed outward on a line  212  to an electrolytic capacitor  270 . 
     As shown in FIG. 3, the capacitor  270  capacitively couples the demodulated radio frequency signal to a bandpass amplifier  280  to an average detector  282  which feeds a comparator  284 . The comparator  284  also receives a signal directly from the bandpass amplifier  280  and provides a demodulated digital output signal on the line  82  coupled to the P 32  pin of the Z86E21/61 microcontroller. The microcontroller is energized by the power supply  72  and also controlled by the wall switch  39  coupled to the microcontroller by the leads  100 . 
     From time to time, the microcontroller will supply current to the switch biasing module  96 . 
     The microcontroller operates under the control of a main routine as shown in FIGS. 5A and 5B. When the unit is powered up, a power on reset is performed in a step  300 , the memory is cleared and a check sum from read-only memory within the microcontroller  84  is tested. In a step  302 , if the check sum and the memory prove to be correct, control is transferred to a step  304 , if not, control is transferred back to the step  300 . In the step  304 , the last non-volatile state, which is indicative of the state of the operator, that is whether the operator indicated the door was at its up limit, down limit or in the middle of its travel, is tested for in a step  304  and if the last state is a down limit, control is transferred to a step  306 . If it was an up limit, control is transferred to a step  308 . If it was neither a down nor an up limit, control is transferred to a step  310 . In the step  306 , the position is set as the down limit value and a window flag is set. The operation state is set as down limit. In a step  308 , the position is set as up, the window flag is set and the operation state is set as up limit. In the step  310 , the position is set as outside the normal range, 6 inches below the secondary up limit. The operation state is set as stopped. Control is transferred from any of steps  306 ,  308  and  310  to a step  312  where a stored simulated motor temperature is read from the non-volatile memory  88 . The temperature of a printed circuit board positioned within the head unit is read from the temperature sensor  120  which is supplied over a line  120   a  to the microcontroller. In order to read the PC board temperature, a pin P 20  of the microprocessor is driven high, causing a high potential to appear on a line  120   b  which supplies a current through the RTD sensor  120  to a comparator  120   c . A capacitor  120   d  connected to the comparator and to the temperature sensor, is grounded and charges up. The other input terminal to the comparator has a voltage divider  120   e  connected to it to supply a reference voltage of about 2.5 volts. Thus, the microcontroller starts a timer running when it brings line  120   b  high and interrogates a line  120   f  to determine its state. The line  120   f  will be driven high when the temperature at the junction of the RTD  120  and the capacitor  120   d  exceeds 2.5 volts. Thus, the time that it takes to charge the capacitor through the resistance is indicative of the temperature within the head unit and, in this manner, the PC board temperature is read and if the temperature as read is greater than the temperature retrieved from the non-volatile memory, the temperature read from the PC board is then stored as the motor temperature. 
     In a step  314 , constants related to the receipt and processing of the demodulated signal on the line  82  are initialized. In a step  316 , a test is made to determine whether the learn switch  39   b  had been activated within the last 30 seconds. If it has not, control is transferred back to the step  314 . 
     In a step  318 , a test is made to determine whether the command switch debounce timer has expired. If it has, control is transferred to a step  320 . If it is not, control is transferred back to the step  314 . In the step  320 , the learn limit cycle is begun as will be discussed in more detail as to FIGS. 6A through 6G. The main routine effectively has a number of interrupt routines coupled to it. In the event that a falling edge is detected on the line  112  from the tachometer, an interrupt routine related to the tachometer is serviced in the step  322 . A timer interrupt occurs every 0.5 millisecond in a step  324  as shown in FIGS. 7A through 7B. 
     The obstacle detector  90  generates a pulse every 10 milliseconds during the time when the beam from the infrared emitter  42  has not been interrupted either by the pass point system  49  or by an obstacle, in a step  326  following which the obstacle detector timer is cleared in a step  328 . 
     As shown in FIGS. 10A through 10C, operation of the switch biasing module  96  is controlled over the lines  100  by the microcontroller  84 . The microcontroller  84 , in the step  340 , tests to determine whether an RS232 digital communications mode has been set. If it has, control is transferred to a step  342 , as shown in FIG. 10C, testing whether data is stored in an output buffer to be output from the microcontroller. If it is, control is transferred to a step  344  outputting the next bit, which may include a start bit, from the output buffer and control is then transferred back to the main routine. In the event that there is no data in the data buffer, control is transferred to the step  346 , testing whether data is being received over lines  100 . If it is being received, control is transferred to a step  348  to receive the next bit into the input buffer and the routine is then exited. If not, control is transferred to a step  350 . In the step  350 , a test is made to determine whether a start bit for RS232 signalling has been received. If it has not, control is transferred to a return step  352 . If it has, control is transferred to a step  354  in which a flag is set indicating that the start bit has been received and the routine is exited. As shown in FIG. 10A, if the response to the decision block  340  is no, control is transferred to a decision step  360 . The switch status counter is incremented and then a test is determined as to whether the contents of the counter are  29 . If the switch counter is  29 , control is transferred to a step  362  causing the counter to be zeroed. If the counter is not  29 , control is transferred to a step  364 , testing for whether the switch status is equal to zero. If the switch status is equal to zero, control is transferred to a step  366 . In a step  366 , a current source transistor  368 , shown in FIG. 8, is switched on, drawing current through resistors  370  and  372  and feeding current out through a line  39   a  connected thereto to the switch module  39   a  and, more specifically, to a resistor  380 , a 0.10 microfarad capacitor  382 , a 1 microfarad capacitor  384 , a 10 microfarad capacitor  386  and a switch terminal  388 . The switch  39   e  is coupled to the switch terminal  388 . The switch  39   d  may be selectively coupled to the capacitor  386 . The switch  39   b  may be selectively coupled to the capacitor  384 . The switch  39   c  may be selectively coupled to the capacitor  382 . A light emitting diode  392  is connected to the resistor  380 . Current flows through the resistor  380  and the light emitting diode  392  back to another one of the lines  39   a  and through a field effect transistor  398  to ground. In step  402 , the sense input on a line  100  coupled to the transistor  398  is tested to determine whether the input is high. If the input is high immediately, that is indicative of the fact that switches  39   b  through  39   e  are all open and in a step  404 , debounce timers are decremented for all switches and a got switch flag is set and the routine is exited in the event that the test of step  402  is negative. Control is then transferred to a step  406  testing after 10 milliseconds if the sense in output on the line  100  connected to the field effect transistor  398  is high, which would be indicative of the switch  39   c  having been closed. If it is high, the worklight timer is incremented, all other switch timers are decremented, the got switch flag is set and the routine is exited. In the event that the decision in step  406  is in the negative, control is transferred to a step  410  and the routine is exited. In the event that the decision from step  364  is in the negative, control is transferred to a step  412  wherein the switch status is tested as to whether it is equal to one. If it is, control is transferred to a step  414  testing whether the sensed input on the line  100  connected to the field effect transistor is high. If it is, control is transferred to step  416  to set the got switch flag, after which in a step  418 , the learn switch debouncer is incremented, all other switch counters are decremented, the got switch flag is set and the routine is exited. In the event that the answer to step  414  is in the negative, control is transferred to a return step  420 . 
     In the event that the answer to step  412  is in the negative, control is transferred to a step  422 , as shown in FIG. 10B. A test is made as to whether the switch status is equal to  10 . If it is, control is transferred to a step  424  where the sense out input is tested as high. 
     Thus, the charging rate for the capacitors which, in effect, is sensed on the line  100  connected to the field effect transistor  398  which is coupled to ground, is indicative of which of the switches is closed because the switch  39   c  has a capacitor that charges at 10 times the rate of the capacitor  384  connected to  39   b  and 100 times the rate of the capacitor  386  selectively couplable to switch  39   d.    
     After the switch measurement has been made, the transistor  368  is switched non-conducting by the line  368   b  and the field effect transistor  398  is switched nonconducting by a line  450  connected to its gate. A transistor  462 , coupled via a resistor  464  to a line  466 , is switched on, biasing a transistor  468  on, causing current to flow through a diagnostic light emitting diode  470  to a field effect transistor  472  which is switched on via a voltage on a line  474 . In addition, the capacitors  386 ,  384  and  382 , which may have been charged are discharged through the field effect transistor  472 . 
     In order to perform all of the- switching functions after the step  424  has been executed, control is transferred to a step  510  testing whether the got switch flag has been cleared. If it has, control is transferred to a step  512  in which the command timer is incremented and all other timers are decremented and the got switch flag is set and the routine is exited. If the got switch flag is cleared as indicated in the step  510 , the routine is exited in the step  514 . In the event that the sense input is measured as being high in the step  424 , control is transferred to a step  516  where the vacation or lock flag counter is incremented and all other counters are decremented. The got switch flag is set and the routine is exited. In the event that the switch status equal  10  test in the step  422  is indicated to be no, control is then transferred to a step  520  testing whether the switch status is  11 . If the switch status is  11 , indicating that the routine has been swept through  11  times, control is transferred to a step  522  in which the field effect transistors  398  and  472  are both switched on, providing ground pads on both sides of the capacitors causing the capacitors to discharge and the routine is then exited. In the event that the step  520  test is negative, control is transferred to a step  524  testing whether the routine has been executed 15 times. If it has, control is transferred to a step  526  indicating that the bit which controls the status the light emitting diode  470 , the diagnostic light emitting diode, has been set. If it has not been set, control is transferred to a step  528  wherein both transistors  368  and  468  are switched on and both the field effect transistors  398  and  472  are switched off. In order to test for short circuits between the source and drain electrodes of the field effect transistors  398  and  472  which might cause false operation signals to be supplied on the lines  100  to the microcontroller  84 , resulting in inadvertent operation of the electric motor. The routine is then exited. In the event that the test in step  526  indicates that the diagnostic LED bit has been set, control is transferred to a step  530 . In the step  530 , the transistors  468  and  472  are switched on allowing current to flow through the diagnostic LED  470 . In the event that the test in step  524  is negative, a test is made in a step  532  as to whether the routine has been executed 26 times. If it has not, the routine is exited in a step  534 . If it has, both of the field effect transistors  398  and  372  are switched on to connect all of the capacitors to ground to discharge the capacitors and the routine is exited. 
     As shown in FIGS. 7A and 7B, when the timer interrupt occurs as in step  324 , control is transferred to a step  550  shown in FIG. 7A wherein a test is made to determine whether a  2  millisecond timer has expired. If it has not, control is transferred to a step  552  determining whether a 500 millisecond timer has expired. If the 500 millisecond timer has expired, control is transferred to a step  554  testing whether power has been switched on through the relay logic  104  to the electric motor  106 . If the motor has been switched on, control is transferred to a step  556  testing whether the motor is stalled, as indicated by the motor power having been switched on and by the fact that pulses are not coming through on the line  112  from the tachometer  110 . In the event that the motor has stalled, control is transferred to a step  558 . In the step  558  the existing motor temperature indication, as stored in one of the registers of the microcontroller  84 , has added to it a constant which is related to a motor characteristic which is added in when the motor is indicated to be stalled. In the event that the response to the step  556  is in the negative, indicating that the motor is not stalled, control is transferred to a step  560  wherein the motor temperature is updated by adding a running motor constant to the motor temperature. In the event that the response to the test in step  554  is in the negative, indicating that motor power is not on and that heat is leaking out of the motor so that the temperature will be dropping, the new motor temperature is assigned as being equal to the old motor temperature, less the quantity of the old motor temperature, minus the ambient temperature measured from the RTD probe  120 , the whole difference multiplied by a thermal decay fraction which is a number. 
     All of steps  558 ,  560  and  562  exit to a step  564  which test as to whether a 15 minute timer has timed out. If the timer has timed out, control is transferred to a step  566  causing the current, or updated motor temperature, to be stored in a non-volatile memory  88 . If the 15 minute timer has not been timed out, control is transferred to a step  510 , as shown in FIG.  7 B. Step  566  also exits to step  568 . A test is made in the step  568  to determine whether a obstacle detector interrupt has come in via step  326  causing the obstacle detector timer to have been cleared. If it has not, the period will be greater than  12  milliseconds, indicating that the obstacle detector beam has been blocked. If the obstacle detector beam, in fact, has been blocked, control is transferred to a step  570  to set the obstacle detector flag. 
     In the event that the response to step  568  is in the negative, the obstacle detector flag is cleared in the step  572  and control is transferred to a step  574 . All operational timers, including radio timers and the like are incremented and the routine is exited. 
     In the event that the 2 millisecond timer tested for in the step  550  has expired, control is transferred to a step  576  which calls a motor operation routine. Following execution of the motor operation routine, control is transferred to the step  552 . When the motor operation routine is called, as shown in FIG. 8A, a test is made in a step  580  to determine the status of the motor operation state variable which may indicate that the up limit has been reached. If the up limit or the down limit have been reached, the motor is causing the door to travel up or down, the door has stopped in mid-travel or an auto-reverse delay indicating that the motor has stopped in mid-travel and will be switching into up travel shortly. In the event that there is an auto-reverse delay, control is transferred to a step  582 , when a test is made for a command from one of the radio transmitters or from the wall control unit and, if so, the state of the motor is set indicating that the motor has stopped in mid-travel. Control is then transferred to a step  584  in which 0.50 second timer is tested to determine whether it has expired. If it has, the state is set to the up travel state following which the routine is exited in the step  586 . In the event that the operation state is in the up travel state, as tested for in step  580 , control is transferred to a step  588  testing for a command from a radio or wall control and if the command is received, the motor operational state is changed to stop in mid-travel. Control is transferred to a step  590 . If the force period indicated is longer than that stored in an up array location, indicated by the position of the motor. The state of the door is indicated as stopped in mid-travel. Control is then transferred to a step  592  testing whether the current position of the door is at the up limit, then the state of the door is set as being at the up limit and control is transferred to a step  594  causing the routine to be exited, as shown in FIG.  8 B. 
     In the event that the operational state tested for in the step  580  is indicated to be at the up limit, control is transferred to a step  596  which tests for a command from the radio or wall control unit and a test is made to determine whether the motor temperature is below a set point for the down travel motor temperature threshold. The state is set as being a down travel state. If the temperature value exceeds the threshold or set point temperature value, an output diagnostic flag is set for providing an output indication in another routine. Control is then transferred to a step  598 , causing the routine to be exited. In the event that the down travel limit has been reached, control is transferred to a step  600  testing for whether a command has come in from the radio or wall control and, if it has, the state is set as auto-reverse and the auto-reverse timer is cleared. Control is then transferred to a step  602  testing whether the force period, as indicated, is longer than the force period stored in the down travel array for the current position of the door. Auto-reverse is then entered at step  582  on a later iteration of the routine. Control is transferred to a step  604  to test whether the position of the door is at the down limit position and the pass point detector has already indicated that the door has swept the passed the pass point, the state is set as a down limit state and control is transferred to a step  606  testing for whether the door position is at the down limit position and testing for whether the pass point has been detected. If the pass point has not been detected, the motor operational state is set to auto-reverse, causing auto-reverse to be entered in a later routine and control is transferred to a step  608 , exiting the main routine. 
     In the event that the block  580  indicates that the door is at the down limit, control is transferred to a step  610 , testing for a command from the radio or wall control and testing the current motor temperature. If the current motor temperature is below the up travel motor temperature threshold, then the motor state variable is set as equal to up travel. If the temperature is above the threshold or set point temperature, a diagnostic code flag is then set for later diagnostic output and control is transferred to a return step  612 . In the event that the motor operational state is indicated as being stopped in mid-travel, control is transferred to a step  614  which tests for a radio or wall control command and tests the motor temperature value to determine whether it is above or below a down travel motor temperature threshold. If the motor temperature is above the travel threshold, then the door is left stopped in mid-travel and the routine is returned from in step  616 . 
     In the event that the learn switch has been activated as tested for in step  316  and the command switch is being held down as indicated by the positive result from the step  318 , the learn limit cycle is entered in step  320  and transfers control to a step  630 , as shown in FIG. 6A, in step  630 , the maximum force is set to a minimum value from which it can later be incremented, if necessary. The motor up and motor down controllers in the relay logic  104  are disabled. The relay logic  104  includes an NPN transistor  700  coupled to line  76  to receive 24 to 28 volts therefrom via a coil  702  of a relay  704  having relay contacts  706 . A transistor  710  coupled to the micro-controller is also coupled to line  76  via a relay coil  714  and together comprise an up relay  718  which is connected via a lead  720  to the electric motor  106 . A down transistor  730  is coupled via a coil  732  to the power supply  76 . The down relay  732  has an armature  734  associated with it and is connected to the motor to drive it down. Respective diodes  740  and  742  are connected across coils  714  and  732  to provide protection when the transistors  710  and  730  are switched off. In the step  632 , both the transistors  710  and  730  are switched off, interrupting either up motor power or down motor power to the electric motor  106  and the microcontroller delays for 0.50 second. Control is then transferred to a step  634 , causing the relay  704  to be switched on, delivering power to an electric light or worklight  750  associated with the head unit. The up motor relay  716  is switched on. A 1 second timer is also started which inhibits testing of force limits due to the inertia of the door as it begins moving. Control is then transferred to a step  636 , testing for whether the 1 second timer has timed out and testing for whether the force period is longer than the force limit setting. If both conditions have occurred, control is transferred to a step  640  as shown in FIG.  6 B. If either the 1 second timer has not timed out or the force period is not longer than the force limit setting, control is transferred to a step  638  which tests whether the command switch is still being held down. If it is, control is transferred back to step  636 . If it is not, control is transferred to the step  640 . In step  640 , both the up transistor  710  and the down transistor  730  are causing both the up motor and down motor command from the relay logic to be interrupted and a delay of  0 . 50  second is taken and the position counter is cleared. Control is then transferred to a step  640  in which the transistor  730  is commanded to switch on, starting the motor moving down and the 1 second force ignore timer is started running. A test is made in a step  642  to determine whether the command switch has been activated again. If it has, the force limit setting is increased in a step  644  following which control is then transferred back to the step  632 . If the command switch is not being held down, control is then transferred to a step  646 , testing whether the 1 second force ignore timer has timed out. The last 32 rpm pulses indicative of the force are ignored and a force period from the previous pulse is accepted as the down force. Control is then transferred to a step  648  and a test is made to determine whether the movable barrier is at the pass point as indicated by the pass point detector  49  interacting with the optical detector  46 . Control is then transferred to a step  650 . The position counter is complemented and the complemented value is stored as the up limit following which the position counter is cleared and a pass point flag is set. Control is then transferred back to the step  642 . In the event that the result of the test in step  648  is negative, control is transferred to a step  652  which tests whether the 1 second force delay timer has expired and whether the force period is greater than the force limit setting, indicating that the force has exceeded. If both of those conditions have occurred, control is transferred to a step  654  which tests whether the pass point flag has been set. If it has not been set, control is transferred to a step  656 , wherein the position counter is complemented and the complemented value is saved as the up limit and the position counter is cleared. In the event that the pass point flag has been set, control is transferred to a step  658 . In the event that the test in step  652  has been negative, control is transferred to a step  660  which tests the value of the obstacle reverse flag. If the obstacle reverse flag has not been set, control is transferred to the step  642  shown on FIG.  6 B. If the flag has been set, control is transferred to the step  654 . 
     In a step  658 , both transistors  710  and  730  are switched off interrupting up-and down power from the relays to the electric motor  106  and halting the motor and the microcontroller then delays for 0.50 second. Control is then transferred to a step  660 . In step  660 , the transistor  710  is switched on switching on the up relay causing the motor to be turned to drive the door upward and the 1 second force ignore timer is started. Control is transferred to a decision step  662  testing for whether the command switch is set. If the command switch is set, control is transferred back to the step  664  causing the force limit setting to be increased, following which control is transferred to the step  632 , interrupting the motor outputs. If the command switch has not been set, control is transferred to the step  664  causing the maximum force from the 33rd previous reading to be saved as the up force, following which control is transferred to a decision block  666  which tests for whether the 1 second force ignore timer has expired and whether the force period is longer than the force limit setting. If both conditions are true, control is transferred to a step  668 . If not, control is transferred to a step  670  which tests for whether the door position is at the up limit. If the door position is at the up limit, control is transferred to the step  668 , switching off both of the motor outputs to halt the door and delaying for 0.50 second. If the position tested in step  670  is not at the upper limit, control is transferred back to the step  662 . Following step  668 , control is transferred to the step  676  during which the command switch is tested. If the command switch is set, control is transferred back to the step  644  causing the force limit setting to be increased and ultimately to the step  632  which switches off the motor outputs and delays for 0.50 second. If the command switch has not been set, control is transferred to a step  678 . If the position counter indicates that the door is presently at a point where a force transition normally occurs or where force settings are to change, and the 1 second force ignore timer has expired, the 33rd previous maximum force is stored and the down force array is filled with the last 33 force measurements. Control is then transferred to a step  680  which tests for whether the obstacle detector reverse flag has been set. If it has not been set, control is transferred to a step  682  which tests for whether the 1 second force ignore timer has expired and whether the force period is longer than the force limit setting. If both those conditions are true, control is transferred to a step  684  which tests for the pass point being set. If the pass point flag was not set, control is transferred to the step  688 . In the event that the obstacle reverse flag is set, control is also transferred to the step  688 . In the event that the decision block  682  is answered in the negative, control is transferred back to the step  676 . If the pass point flag has been set as tested for in the step  684 , control is transferred to the step  686  wherein the current door position is saved as the down limit position. In step  688 , both the motor output transistors  710  and  730  are switched off, interrupting up and down power to the motor and a delay occurs for 0.50 second. Control is then transferred to the step  690  wherein the up transistor  710  is switched on, causing the up relay to be actuated, providing up power to the motor and the 1 second force ignore timer begins running. In the step  692 , a test is made for whether the command has been set again. If it has, control is transferred back to the step  644 , as shown in FIG. 6B, and following that to the step  632 , as shown in FIG.  6 A. If the command switch has not been set, control is transferred to the step  694  which tests for whether the position counter indicates that the door is at a sectional force transition point or barrier and the  1  second force ignore timer has expired. If both those conditions are true, the maximum force from the last sectional barrier is then loaded. Control is then transferred to a decision step  696  testing for whether the 1 second force ignore timer has timed out and whether the force period is indicated to be longer than the force period limit setting. If both of those conditions are true, control is then transferred to a step  698  causing the motor output transistors  710  and  730  to be switched off and all data is stored in the non-volatile memory  88  and the routine is exited. In the event that decision is indicated to be in the negative from the decision step  696 , control is transferred to a step  697  which tests whether the door position is presently at the up limit position. If it is, control is then transferred to the step  698 . If it is not, control is transferred to the step  692 . 
     In the event that the rpm interrupt step  322 , as shown in FIG. 5B, is executed, control is then transferred to a step  800 , as shown in FIG.  9 A. In step  800 , the time duration from the last rpm pulse from the tachometer  110  is measured and saved as a force period indication. Control is then transferred to a decision block. Control is transferred to the step  802 , in which the operator state variable is tested. In the event that the operator state variable indicates that the operator is causing the door to travel down, the door is at the down limit or the door is in the auto-reverse mode, control is transferred to a step  804  causing the door position counter to be incremented. In the event that the door operator state indicates that the door is travelling upward, has reached its up limit or has stopped in mid-travel, control is transferred to a step  806  which causes the position counter to be decremented. Control is then transferred to a decision step  808  in which the pass point pattern testing flag is tested for whether it is set. If it is set, control is transferred to a step  810  which tests a timer to determine whether the maximum pattern time allotted by the system has expired. In the event that the pass point pattern testing flag is not set, control is transferred to a step  812 , testing for whether the optical obstacle detector flag has been set. If is not, the routine is exited in a step  814 . If the obstacle detector flag has been set, control is transferred to a step  816  wherein the pattern testing flag is set and the routine is exited. In the event that the maximum pattern time has timed out. As tested for in the step  810 , control is transferred to a step  820  wherein the optical reverse flag is set and the routine is exited. In the maximum pattern time has not expired, a test is made in a step  822  for whether the microcontroller has sensed from the obstacle detector that the beam has been blocked open within a correct timing sequence indicative of the pass point detection system. If it has not, the routine is exited in a step  824 . If it has, control is transferred to a step  826 . Testing for whether a window flag has been set. As to whether the rough position of the door would indicate that the pass point should have been encountered. If the window flag has been set, control is transferred to a step  828 , testing for whether the position is within the window flag position. If it has, control is transferred to a step  832 , causing the position counter to be cleared or renormalized or zeroed, setting the window flag and set a flag indicating that the pass point has been found, following which the routine is exited. In the event that the position is now within the window as tested for in step  828 , the obstacle reverse flag is set in a step  830  and the routine is exited. In the event that the test made in step  326  indicates that the window flag has not been set, control is then transferred directly to the step  832 . 
     While there has been illustrated and described a particular embodiment of the present invention, it will be appreciated that numerous changes and modifications will occur to those skilled in the art, and it is intended in the appended claims to cover all those changes and modifications which fall within the true spirit and scope of the present invention.