Abstract:
A method of adjusting the closing force of a door coupled to a door closer assembly having a bias element. The method includes determining the kinetic energy of the door without using the weight or other dimensions of the door. The determined kinetic energy is used to adjust the closing force of an electro-mechanical door closer that includes a spring and a motor. The door includes the use of one, some of, or all of an accelerometer, an angular position sensor, a time to close, a breaking torque, and a controller to identify values of acceleration, velocity, and/or position of the door. The identified values are provided to the controller, which is configured to calculate the kinetic energy of the door. The calculated kinetic energy is used to determine the closing velocity of the door closure to ensure proper operation of the door at the point of installation.

Description:
FIELD OF THE INVENTION 
       [0001]    The present disclosure generally relates to a door and a door operator, and more particularly to a door operator configured to close the door in a controlled manner. 
       BACKGROUND 
       [0002]    Door operators are configured to move a door from an open position to a closed position under control of a spring mechanism, a motor, a valve, or other actuators. When closing the door, in particular, the door operator is configured to control the speed at which the door is closed to ensure that the door doesn&#39;t close too slowly or too quickly. The door operator typically includes features, such as potentiometer presets, which are set to a predetermined location before or during installation to ensure that the door operates within an effective operating range. Door operators are also known as door closers. 
         [0003]    Certain manufacturers of door hardware follow certain agreed to standards which specify that a door&#39;s kinetic energy should be maintained within a predetermined operating range. Currently the manufacturers or installers of door closers use a lookup table in order to determine the specified operating region of the door and the door closer, and then manually set the required presets of the door closer parameters. To set the operating characteristics of the door closer, certain door features, which include the weight of the door and other dimensions, must be known. These characteristics of the door, however, are not easily determined at the point of installation or once a door has been installed. Consequently, adjustment of the door closer at the point of installation can be problematic. There is a need, therefore, for ensuring the door closer has been properly calibrated at the point of installation, without knowing the door characteristics prior to installation of the door and the door closer. 
       SUMMARY 
       [0004]    As described herein, a method for adjusting the closing force of a door coupled to a door closer assembly having a bias element includes determining the kinetic energy of the door without using the weight or dimensions of the door, such as height and width. The determined kinetic energy is used to adjust the closing force of an electro-mechanical door actuator that includes a spring and a motor. The door includes the use of one, some of or all of an accelerometer, an angular position sensor, a time to close, a braking torque, and a controller to identify values of acceleration, velocity, and/or position of the door. The identified values are provided to the controller which is configured to calculate the kinetic energy of the door. The calculated kinetic energy is used to determine the closing velocity of the door closure to ensure proper operation of the door at the point of installation. 
         [0005]    In one embodiment, there is provided a method for adjusting the closing force of a door coupled to a door closer assembly having a bias element. The method includes: placing the door in a first position; initiating movement of the door from the first position to a second position; measuring movement of the door from the first position to the second position; determining a mass moment of inertia of the door as a function of the measured movement; determining the kinetic energy of the door as function of the mass moment of inertia; and modifying an operating characteristic of the door closer assembly as a function of the determined kinetic energy to adjust the closing force of the door closer assembly. 
         [0006]    In another embodiment, there is provided a method for adjusting the closing force of a door coupled to a door closer assembly having a bias element and a controller configured to control movement of the door from an open position to a closed position. The method includes: placing the door in an open position; initiating movement of the door from the open position to the closed position; determining at least one of a plurality of operating characteristics with the controller during movement of the door including: (i) an acceleration of the door, (ii) a torque value; (iii) an angular position of the door; and (iv) a period of time for the door to move from a first position to a second position; and determining a mass moment of inertia of the door using the determined one of the plurality of operating characteristics. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0007]      FIG. 1  is a perspective illustration of a door operator coupled to a door and to a door frame. 
           [0008]      FIG. 2  is a schematic block diagram of selected components of the door operator of  FIG. 1 . 
           [0009]      FIG. 3  is a schematic block diagram of selected components of the door operator illustrated in  FIG. 1 . 
           [0010]      FIG. 4  is a diagram of various positions of a door. 
           [0011]      FIG. 5  is a block diagram of a process to calibrate a door operator using an accelerometer. 
           [0012]      FIG. 6  is a block diagram of a process to calibrate a door operator using an angular position sensor. 
           [0013]      FIG. 7  is a block diagram of a process to calibrate a door operator using both an accelerometer and an angular position sensor. 
           [0014]      FIG. 8  is a block diagram of a process to calibrate a door operator using an angular position sensor in combination with a determined time function. 
       
    
    
     DETAILED DESCRIPTION 
       [0015]    For the purposes of promoting an understanding of the principles of the invention, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended. Any alterations and further modifications in the described embodiments, and any further applications of the principles of the invention as described herein are contemplated as would normally occur to one skilled in the art to which the invention relates. 
         [0016]      FIG. 1  illustrates a door frame  72  configured to pivotal mount a door  74  with one or more hinges, one of which hinge  76  is shown. A door operator  100  includes an operator body  110  and an arm assembly  120  connected between the body  110  and the frame  72 . The body  110  is mounted on the door  74 , and the arm assembly  120  is connected between the body  110  and the door frame  72 . In other embodiments, the body  110  may be mounted on the frame  72 , and the arm assembly  120  may be connected between the body  110  and the door  74 . An accelerometer  78  is located on the door  74  and is electrically coupled to the door operator  100 . The accelerometer  78 , in different embodiments, is located on the door at the point of purchase or is mounted to the door at the point of installation. The accelerometer  78  is connected to the door operator  100  either wirelessly or through a hardwired connection  80 . In other embodiments, the accelerometer  78  is located within the door operator  100 . In different embodiments, the accelerometer  78  includes one of mechanical and electrical accelerometers. Different types of electrical accelerometers include piezoelectric, Hall-effect and semiconductor. 
         [0017]    As illustrated in  FIG. 2 , the body  110  houses various internal components of the operator  100 , including a pinion  112  which is rotatable about a rotational axis  102 . The body  110  may also include a case  118  including an opening  119  operable to receive an end of the pinion  112 . The body  110  may further include a rack drivingly engaged with the pinion  112 , a spring or other bias element  116  engaged with the rack, and an actuation mechanism  150  in communication with the controller  140  (see  FIG. 3 ), both of which are disposed within the case  118 . 
         [0018]    The arm assembly  120  generally includes a first arm  122 , a second arm  124 , and a bracket  126 . A first end of the first arm  122  includes a hub  121  which is coupled to the pinion  112 , and a second end of the first arm  122  is pivotally connected to the second arm  124 . For example, the end of the pinion  112  may have a non-circular cross-section, and the hub  121  may have an opening  123  configured to mate with the end of the pinion  112 . The second arm  124  is pivotally connected to the first arm  122  by a first pivot joint  125 , and is pivotally connected to the bracket  126  by a second pivot joint  127 . While the illustrated arm assembly  120  is configured as a scissors-type arm assembly, it is also contemplated that the arm assembly  120  may include a single arm. For example, the second end of the first arm  122  may be slid into a track mounted on the door  74  or the door frame  72 . 
         [0019]    As seen in  FIG. 2 , a sensor  130  is mounted on the body  110  and is associated with the arm assembly  120 . More specifically, the sensor  130  is positioned between the first arm  122  and the casing  118  such that the first arm  122  overlaps the sensor  130 . The illustrated sensor  130  includes an opening  131  sized and configured to receive the hub  121  and/or the end of the pinion  112 . The sensor opening  131  is aligned with the case opening  119 . The pinion  112  and/or the first arm  122  extend through the openings  119 ,  131 . As described in further detail below, the illustrated inductive sensor  130  is operable to sense a rotational position of the first arm  122 . While the sensor  130  in the instant embodiment is associated with the arm assembly  120 , it is also contemplated that the sensor  130  may be associated with another element of the operator  100 . 
         [0020]    As seen in  FIG. 3 , the sensor  130  is an inductive sensor that interacts with a conductive target  103  that has a position corresponding to the position of the door  74  such as, for example, the arm  122  or another element of the operator  100 . As would be appreciated by those having skill in the art, an alternating current flowing through the inductor to generate a magnetic field  133  by which the target  103  can be inductively linked. 
         [0021]    Interaction of the sensor  130  with target  103  is a function of the distance, size and composition of the target  103 . Thus, changes in the distance, position and/or orientation of the target  103  with respect to inductive coil sensor will cause a variation in the sensed position of the target  103  with respect to the sensor  130 . The sensor  130  is configured to generate an output signal corresponding to one or more of the variable characteristics affected by interaction between the sensor  130  and the target  103 . In other embodiments, the sensor  130  is a mechanical sensor and the target  103  engages the sensor  130  at a mechanical interface between the sensor and the target. In one embodiment, the sensor  130  provides a signal to the controller  140  which determines from the signal an angular position of the door  74  with respect to the frame  72 . 
         [0022]    The controller  140  is in communication with the sensor  130 , and may further be in communication with an actuation mechanism  150 . As illustrated, the controller  140  includes a processor  140 ′, a sensor unit  141 , an accelerometer unit  142 , a determining unit  143 , and a memory  146 . As described in further detail below, the sensor unit  141  is configured to activate the sensor  130  and to receive data from the sensor  130 . The accelerometer unit  142  is configured to receive data from the accelerometer  78 . The determining unit  143  is configured to determine an angular position of the door using information received from the sensor  130  or an acceleration value of the door using information received from the accelerometer  78 . 
         [0023]    The memory  146  is a non-transitory computer readable medium having data stored thereon, and is in communication with the processor  140 ′. The data stored on the memory  146  may include, for example, one or more sets of instructions  147 , one or more look-up tables  148  and/or additional data  149 . The instructions  147  may be executed by the processor  140 ′ to cause the processor  140 ′ to perform one or more functions such as, for example, the functions associated with one or more of the described units. While the illustrated controller  140  is housed within the body  110 , it is also contemplated that the controller  140  may be positioned elsewhere on the operator  100  or externally to the operator  100 . 
         [0024]    The processor  140 ′, in different embodiments, is a programmable type, a dedicated, hardwired state machine, or a combination of these, and can further include multiple processors, Arithmetic-Logic Units (ALUs), Central Processing Units (CPUs), Digital Signal Processors (DSPs) or the like. Other forms of processor  140 ′ include multiple processing units, distributed, pipelined, and/or parallel processing. The processor  140 ′ may be dedicated to performance of the operations described herein or may be utilized in one or more additional applications. In the depicted form, the processor  140 ′ is of a programmable variety that executes algorithms and processes data in accordance with defined by programmed instructions (such as software or firmware) stored in memory  146 . Alternatively or additionally, the operating logic for processor  140 ′ is at least partially defined by hardwired logic or other hardware. The processor  140 ′, in different embodiments, is comprised of one or more components of any type suitable to process the signals received from input/output devices, and provide desired output signals. Such components may include digital circuitry, analog circuitry, or a combination of both. 
         [0025]    The memory  146  includes one or more types, such as a solid-state variety, electromagnetic variety, optical variety, or a combination of these forms. Furthermore, the memory  146  includes, in different embodiments, volatile, nonvolatile, or a combination of these types, and a portable variety, such as a disk, tape, memory stick, cartridge, or the like. In addition, the memory  146  is configured to store data that is manipulated by the operating logic of the processor  140 ′, such as data representative of signals received from and/or sent to the door operator in addition to or in lieu of stored program instructions, just to name one example. 
         [0026]    The actuation mechanism  150  is configured to regulate the rotational speed of the pinion  112 , thereby regulating the angular speed of the door  74  during opening and/or closing events. The actuation mechanism  150  may alternatively be referred to as a pinion control mechanism or a speed regulating mechanism. The actuation mechanism  150  may include an actuator  152  configured to perform actions in response to commands from the controller  140 . The actuator  152  may, for example, be an electromechanical actuator such as a motor, solenoid or electromechanical valve. 
         [0027]    In certain embodiments, the actuator  152  may be a motor. For example, in one embodiment, the operator  100  is provided as a door actuator, and the motor may rotate the pinion  112  to actively urge the door  74  in the opening direction during opening events. In other embodiments, the actuation mechanism  150  may include a valve in a hydraulic damper assembly. For example, the operator  100  may be configured as a door closer which regulates the angular speed of the door  74 , but does not actively urge the door  74  to the open position. 
         [0028]    In different embodiments, the operator  100  includes a plurality of door operation devices which are adjustable to alter the operating characteristics of the operator  100 , which adjusts the operation characteristics of the door in opening and closing cycles. The door operation devices include door opening and closing cycle devices, including an opening speed device, a back check speed device, a hold open time device, a delay device, a closing speed device, a latch position device, and a back check position device. 
         [0029]    As the door  74  moves, the position, distance and/or orientation of the target  103  changes with respect to the sensor  130 , thereby causing the sensor  130  to generate an output signal indicative of one or more of the variable characteristics of the sensor  130 . For example, the converter  136  may generate a digital output signal having a value corresponding to an angle of the door  74  with respect to the frame  72 . 
         [0030]      FIG. 4  illustrates the door  74  during an illustrative opening and closing process with respect to the frame  72 . The door  74  has a range of positions  80  including a closed position  82 , intermediate positions  84  and  88 , and an open position  86 . As will be appreciated, the arm  122  has a plurality of arm positions each of which correspond to one of the door positions  80 . Generally speaking, the door  74  moves from the closed position  82  toward the open position  86  during an opening motion, and moves from the open position  86  toward the closed position  82  during a closing motion. A full open/close motion includes moving the door  74  from the closed position  82  to the open position  86 , and subsequently returning the door  74  to the closed position  82 . 
         [0031]    In order to determine a preferred operating range of the door, particularly, in a door closing operation, one embodiment includes determining a kinetic energy of the door using the accelerometer  78 . The accelerometer  78  determines the angular acceleration of the door. When used in combination with a torque value, which is determined by the controller  140 , and a time to close, the mass moment of inertia (MMI) of the door is determined by dividing the torque value by the angular acceleration. The determined value of the MMI is used by the controller  140  to calculate the kinetic energy when multiplied by one-half (½) and the square of the integral of a determined angular acceleration, including a determination of angular velocity. 
         [0032]    The controller  140  is configured to determine kinetic energy of the door using known mathematical equations. For instance, the kinetic energy, in one embodiment, is determined with the following equation: 
         [0000]    
       
         
           
             KE 
             = 
             
               
                 1 
                 2 
               
                
               I 
                
               
                   
               
                
               
                 ω 
                 2 
               
             
           
         
       
     
       Where: 
       [0000]    
       
         KE=Kinetic Energy 
         I=Mass Moment of Inertia 
         ω=Angular Velocity 
       
     
         [0036]    The torque value is determined with the following equation: 
         [0000]      τ=1a
 
       Where: 
       [0000]    
       
         τ=torque 
         α=Angular Acceleration 
       
     
         [0039]    In the embodiments described herein additional equations are used by the controller  140  to determine angular position (θ) and angular velocity (ω) as follows: 
         [0000]    
       
         
           
             θ 
             = 
             
               
                 
                   ω 
                   0 
                 
                  
                 t 
               
               + 
               
                 
                   1 
                   2 
                 
                  
                 α 
                  
                 
                     
                 
                  
                 
                   t 
                   
                     
                         
                     
                      
                     2 
                   
                 
               
             
           
         
       
     
       Where: 
       [0000]    
       
         θ=Angular Position 
         t= 
       
     
         [0000]    
       
         
           
             
               ω 
                
               
                 ( 
                 t 
                 ) 
               
             
             = 
             
               
                 d 
                  
                 
                     
                 
                  
                 θ 
               
               dt 
             
           
         
       
       
         
           
             
               α 
                
               
                 ( 
                 t 
                 ) 
               
             
             = 
             
               
                 
                   d 
                   
                     
                         
                     
                      
                     2 
                   
                 
                  
                 θ 
               
               
                 dt 
                 
                   
                       
                   
                    
                   2 
                 
               
             
           
         
       
       
         
           
             
               θ 
                
               
                 ( 
                 t 
                 ) 
               
             
             = 
             
               ∫ 
               
                 
                   ω 
                    
                   
                     ( 
                     t 
                     ) 
                   
                 
                  
                 
                     
                 
                  
                 dt 
               
             
           
         
       
       
         
           
             
               ω 
                
               
                 ( 
                 t 
                 ) 
               
             
             = 
             
               ∫ 
               
                 
                   α 
                    
                   
                     ( 
                     t 
                     ) 
                   
                 
                  
                 
                     
                 
                  
                 dt 
               
             
           
         
       
       
         
           
             τ 
             = 
             
               f 
                
               
                 ( 
                 
                   sf 
                   , 
                   gd 
                 
                 ) 
               
             
           
         
       
     
       Where: 
       [0000]    
       
         f(sf,dg)=a function of spring force and door geometry 
       
     
         [0043]      FIG. 5  illustrates one embodiment of a process  200  using the accelerometer  78  to set a preferred operation range of the door. The process includes manually opening the door, once installed, to an open position, such as  90  degrees, with respect to the door frame at block  202 . Once the door is placed in the open position, the door operator  100  is placed in a calibration mode at block  204 , which is determined by software instructions located in the memory  146  and which is performed by the controller  140  throughout the calibration mode. The open position of the door, in different embodiments, is determined by an angle sensor determining that the door is at the open position or is set by an installer though a switch or other signal transmitted to the controller  140 . Once the calibration mode has been set, the door is released or moved from the open position at block  206 . The controller  140 , upon release of the door, determines a time at which the door is released, by initiating a timer for instance. The controller  140  then applies a braking torque, or braking force, using the actuation mechanism  150 , such as a motor, to dampen the closing motion of the door at block  208 . In one embodiment, the applied braking torque is zero. The braking torque is determined by the controller  140  using acceleration data provided by the accelerometer  78 . Stored software instructions resident in firmware, in one embodiment, are used by the controller to apply the braking torque. As the door closes, the controller  140  determines acceleration versus time, which is stored by the controller in memory  146 . 
         [0044]    Once the door has reached the door closed position, which can be determined in one embodiment, by engagement of the door latch with the door frame, the controller  140  determines the total amount of time taken for the door to move from the open position to the closed position at block  210 . Once closed, the time to close value and the accelerometer data are stored in memory  146 . Upon storage of the data, the controller determines a net torque change using spring data, which includes a known default starting torque/spring force set at the factory and stored in the memory. The determined spring displacement versus the angular position of the door is determined by the controller  140  by calculating a double integral of the stored angular acceleration at block  212 . As is known by those skilled in the art, by twice integrating acceleration, an angular position is determined. Consequently, in this embodiment, an angular position sensor is not required, as the accelerometer data provides the desired position information. 
         [0045]    Using this information, the controller  140  determines a mass moment of inertia of the door using the stored value of acceleration over time and the net torque at block  214 . After block  214 , the controller  140  using the determined MMI, the determined angular velocity, and time to close to calculate the kinetic energy at block  216 . At block  218 , the controller then determines a preferred operating region of the door which is defined according to the door setup/installation requirements. The determined preferred operating region is used by the controller  140  to control closing of the door. 
         [0046]    In one embodiment, the controller  140  uses the determined preferred operating region to control the actuation mechanism during closing movements of the door. In other embodiments, the controller provides control device settings to the installer, who in turn manually sets the control devices to the provided settings. In another embodiment, some of the control device settings are manually set by the operator and the controller electrically controls closing of the door through the actuation mechanism  150 . Once the MMI is calculated, a maximum kinetic energy for safe door operation is determined. The kinetic energy of the door can then be limited via the angular velocity of the door by motor braking, automatic hydraulic valve adjustment, or manual adjustments. 
         [0047]      FIG. 6  illustrates another embodiment of a process  300  using the angular position sensor  130  and the application of a constant braking torque as determined by the controller  140  to set a preferred operation range of the door. The angular position sensor, in different embodiments includes, but is not limited to, a potentiometer and an encoder. The position values, provided by the position sensor, are used in conjunction with a torque value (which is measured by the controller  140 ) and with a time to close value to determine the MMI of the door. The MMI of the door is determined by dividing the average torque value by the second derivative of angular position (angular acceleration) 
         [0048]    As seen in  FIG. 6 , a zero location data point is determined by the controller at a door closed position at block  302 . The zero location data point is the value of the bias element force determined as a function of a known default starting torque/spring force which is set by the manufacturer and stored in memory. Once the zero data point has been calculated, a first data point, corresponding to the angular position of the door with respect to the frame at the closed location, is stored in memory at block  304 . The door is then manually opened at block  306  to an open position, such as  90  degrees. Once at the open position, the controller calibrates the open position at block  308  by measuring the rotation of the pinion  112 , which in turn is used to determine spring force. A second data point is determined and stored in memory by the controller  140  at block  310 . Once the first and second data points have been determined, the controller  140  computes a net spring torque of the bias element using the first and second data points as end points at block  311 . 
         [0049]    After the net spring torque is computed and stored in memory, the door closer  100  is placed in a calibration mode by the installer at block  312 . This calibration mode is activated by either a mechanical or electrical actuation of a switch, the actuation of which is recognized by the controller  140 . The door is then released from the open position at block  314 . As the door moves from the open position to the closed position, the controller  140  applies a constant calculated braking torque using the actuation mechanism  150  and displacement information at block  316 . The applied constant braking torque dampens the closing of the door. At the same time, a time to close from the open position to the closing position is determined by the controller  140 . The determined time to close, the predetermined amount, and the position data are stored at block  318 . The stored position data is used to determine an angular velocity, by a first derivative, and is used to determine an angular acceleration, by a second derivative of the position data at block  320 . 
         [0050]    Once these values have been determined, the controller  140  determines the MMI of the door using determined angular acceleration and determined torque at block  322 . The controller then determines at block  324  the kinetic energy of the door by using the determined MMI, the angular velocity, and the time to close. At block  326 , the controller determines a preferred operating region of the door which is defined according to the door setup/installation requirements. Once the operating region of the door is determined, the door closer  100  is configured to meet the defined operating regions. 
         [0051]    In an embodiment  400  of  FIG. 7 , an accelerometer and an angular position sensor are both utilized to calibrate the door closer  100 . In this embodiment, the use of both the angular position sensor and the accelerometer reduces software and/or firmware calculations. The accelerometer is used to determine the angular acceleration of the door. When used in conjunction with a torque value (measured by the controller) and two known angular positions using the angular position sensor, the MMI is determinable by dividing the measured torque value by the angular acceleration. The kinetic energy is then determined using the derivative of the angular position sensor data to determine angular velocity, which is squared and which is then multiplied by  1 / 2  the calculated MMI. 
         [0052]    As seen in  FIG. 7 , a zero location data point is determined by the controller at a door closed position at block  402 . The zero data point is the value of the bias element force which is determined as a function of a known default starting torque/spring force which is set by the manufacturer and stored in memory. Once the zero data point has been calculated, a first data point, corresponding to the angular position of the door with respect to the frame at the closed location, is stored in memory at block  404 . The door is then manually opened at block  406  to an open position, such as  90  degrees. Once at the open position, the controller calibrates the open position at block  408 . A second data point is determined and stored in memory by the controller  140  at block  410 . Once the first and second data points have been determined, the controller  140  computes a net spring torque of the bias element using the first and second data points as end points at block  411 . At block  412 , the door is placed in the calibration mode by the installer. 
         [0053]    The door is then released from the open position at block  414 . As the door moves from the open position to the closed position, the controller applies a constant calculated braking torque using the actuation mechanism  150  and displacement information as seen at block  416 . The applied constant braking torque dampens the closing of the door. The controller  140  determines the time to close from the open position to the closed position at block  418 . Using data provided by the accelerometer  78 , the controller accelerometer stores the closing cycle acceleration data at block  420 . Angular position data is derived with respect to time to obtain angular velocity data at block  422 . The controller  140  then determines at block  424  the MMI of the door using acceleration data and the calculated braking torque determined at block  416 . 
         [0054]    The controller  140 , at block  426 , determines the kinetic energy of the door by using the determined MMI, the angular velocity, and the time to close. At block  428 , the controller then determines a preferred operating region of the door which is defined according to the door setup/installation requirements. Once the operating region of the door is determined, the door closer  100  is configured to meet the defined operating regions. 
         [0055]      FIG. 8  illustrates another embodiment of a process  500  using an angular position sensor to determine an angle of a door versus a time function of the door to move from an open position to a closed position. The angular position sensor, when used in conjunction with a torque value and a time to close, is used to determine the MMI of the door. The MMI is determined by dividing the average torque by the second derivative of angular position (angular acceleration). 
         [0056]    As seen in  FIG. 8 , a zero location data point is determined by the controller at a door closed position at block  502 . The zero data point is the value of the bias element force which is determined as a function of a known default starting torque/spring force which is set by the manufacturer and stored in memory. Once the zero data point has been calculated, a first data point, corresponding to the angular position of the door with respect to the frame at the closed location, is stored in memory at block  504 . The door is then manually opened at block  506  to an open position, such as  90  degrees. Once at the open position, the controller calibrates the open position at block  508 . A second data point is determined and stored in memory by the controller  140  at block  510 . Once the first and second data points have been determined, the controller  140  computes a net spring torque of the bias element using the first and second data points as end points at block  511 . 
         [0057]    After the net spring torque is computed and saved in memory, the door closer  100  is placed in a calibration mode by the installer at block  512 . This calibration mode is activated by either a mechanical or electrical actuation of a switch, the actuation of which is recognized by the controller  140 . The door is then released from the open position at block  514 . As the door moves from the open position to the closed position, the controller  140  determines and stores the position of the door versus time at block  516 . The determination provides a velocity of the door moving from the open position to the closed position. 
         [0058]    The stored position data is used to determine an angular velocity, by a first derivative of the position data, and is used to determine an angular acceleration, by a second derivative of the position data, at block  518 . 
         [0059]    Once these values have been determined, the controller  140  determines the MMI of the door using determined angular acceleration and determined torque at block  520 . The controller then determines at block  522  the kinetic energy of the door by using the determined MMI, the angular velocity, and the time to close. At block  524 , the controller determines a preferred operating region of the door, which is defined according to the door setup/installation requirements. Once the operating region of the door is determined, the door closer  100  is configured to meet the defined operating regions. 
         [0060]    While the invention has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only the preferred embodiments have been shown and described and that all changes and modifications that come within the spirit of the inventions are desired to be protected. 
         [0061]    It should be understood that while the use of words such as preferable, preferably, preferred or more preferred utilized in the description above indicate that the feature so described may be more desirable, it nonetheless may not be necessary and embodiments lacking the same may be contemplated as within the scope of the invention, the scope being defined by the claims that follow. In reading the claims, it is intended that when words such as “a,” “an,” “at least one,” or “at least one portion” are used there is no intention to limit the claim to only one item unless specifically stated to the contrary in the claim. When the language “at least a portion” and/or “a portion” is used the item can include a portion and/or the entire item unless specifically stated to the contrary.