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Door Operators Presenter: David SuttonColumbia Elevator Products, Co., Inc.
Door Operators Presenter: David SuttonColumbia Elevator Products, Co., Inc.
Part I: Brief History of Elevators Part II: Evolution of Door Operator
Technology Part III: Door Closing Rules
Part I: History – before doorsOTIS Safety Brake 1853 World’s Fair
1861 Patent
Part I: History – before doorsOTIS Safety Brake 1853 World’s Fair
1861 Patent
Illustration from Otis Elevator Co: The Otis Bulletin: Special 125 th Anniversary Edition, 1978
Paternoster: (Latin = Lord’s Prayer)
Before Elevator DoorsPaternoster: (Latin = Lord’s Prayer)
Before Elevator Doors
Cyclic Elevator, 1868
Chain elevator Elevator is in the
form of a loop similar to Rosary Beads
Paternoster:What are the safety concerns?
Paternoster:What are the safety concerns?
Take two minutes to list all the safety concerns you have when an elevator doesn’t have a door.
Video link: http://youtu.be/OXSnNz
GJDdg
Manual Door Operation: The ultimate door operator.
Manual Door Operation: The ultimate door operator.
Marshall Field's and Company, Blanche Hildebrand, a woman elevator operator-1918. Library of Congress
Marshall Field's and Company, Blanche Hildebrand, a woman elevator operator-1918. Library of Congress
Charles Moore, elevator operator at Cook County Hospital, 1835 West Harrison Street, near West Side community area of Chicago, Illinois. Chicago Daily News
Charles Moore, elevator operator at Cook County Hospital, 1835 West Harrison Street, near West Side community area of Chicago, Illinois. Chicago Daily News
Video link: https://www.youtube.com/watch?v=e6MSVRiK8-A
Manual Elevator / Door Operator: Why change?
Manual Elevator / Door Operator: Why change?
Safety (for the elevator operators themselves)
Cheaper by the hour
Increased passenger room
24 hrs per day 7 days a week
No holiday or vacation pay required
Doesn’t talk back
Automatic Door Operators:Addressing Safety Concerns
Automatic Door Operators:Addressing Safety Concerns
Electric door operators were developed and mounted on the elevator car to open and close the car and hoistway doors together.
Move the doors with an electric motor connected to the car door panel with levers and links.
Mechanically Coupled with Hoistway Doors: Clutch - Attached to the back of the cab door
Pickup Rollers - Attached to the back of the hoistway doors
Safety Switch and Door Interlocks must be actuated to indicate fully closed Gate Switch or Car Door Interlock Attached to car door
Interlocks – Attached to hoistway doors
Automatic Door Operators:Clutch & Pickup Rollers
Automatic Door Operators:Clutch & Pickup Rollers
Mechanically Coupled Together to open Doors: Clutch or Vane -
Attached to the back of the cab door
Pickup Rollers - Attached to the back of the hoistway doors
Automatic Door Operators:Gate Switch & Interlocks
Automatic Door Operators:Gate Switch & Interlocks
The elevator controller relies on a safety chain of switches to know when it can move the elevator. These switches are considered to be part of the safety chain.
Gate Switch - Attached to car door (must be closed)
Interlocks – Attached to hoistway doors (must be closed)
Harmonic OperatorsHarmonic Operators
Harmonic motion
One dimensional movement in X - Y coordinates based on a specific radius
A graph of Linear motion speed based on 180 degrees of harmonic motion forms a bell curve
Harmonic Operator Mechanical Design
Harmonic Operator Mechanical Design
Mechanically creates a four part elevator door profile
Mechanical profile was essential in early operators because they were driven by constant speed AC motors
Early Door Operator Profile 4 part profile used for both
Opening and Closing of doors
Early Door Operator Profile 4 part profile used for both
Opening and Closing of doors First Movement:
Linear speed of the door is increased slowly
• Allows for quiet engagement of the car and hoistway doors.
• When opening the door, this also allows time for the restrictor and interlock to disengage
Second Movement: Linear speed increases until mid-
point of the opening is reachedWith the harmonic design the torque decreases
as the speed increases.
Early Door Operator Profile 4 part profile used for both Opening and Closing of doors (cont)
Early Door Operator Profile 4 part profile used for both Opening and Closing of doors (cont)
Third Movement: Linear speed of the door
decreases from mid-point to the slow down point.
Fourth Movement: Linear speed of the door
continues to decrease until the door stops.
High Voltage DC Motor Driven OperatorsHigh Voltage DC Motor Driven Operators
High voltage DC Motors introduced allow the ability to have separate profiles for
Opening and Closing
DC motor speed was controlled by limit switches, relays and resistors
which changed the motor current and voltage
DC motors controlled by resistance low torque at slow speeds
Solid State Motor Control(Refining motor control)Solid State Motor Control(Refining motor control)
Pulse Width Modulation (PWM) used instead of resistance to control motor speed
Pulse width modulation sends full voltage square wave pulses to a DC motor that vary in duration to control the motor speed
With PWM output high motor torque can be achieved at low motor speeds
PWM provides more accurate control of Acceleration and Torque
Part II: Evolution of DOOR OPERATORS AND TRACK
Part II: Evolution of DOOR OPERATORS AND TRACK
Evolution of Door OperatorHarmonicLinear
Reasons for Door Operator Design RefinementReasons for Door Operator Design Refinement
Reduce mechanical failure Create separate Open and Close profiles Improve Floor to Floor times Changes required by ASME regulations Weight reduction Cost effectiveness Ease of installation Ease of service
Door Operator Types:Harmonic or Linear
Door Operator Types:Harmonic or Linear
Traditional Harmonic operators are mounted on the car top and drive the doors from the face of the door panel. Door panels ride on a separate track assembly.
Most linear operators incorporate the track with the operator and drive the door panels from the top of the door.
Common Door Operator Considerations 1 OF 2
Common Door Operator Considerations 1 OF 2
When do you want to modernize your Door Operators?
Poor door performance Increase reliability Decrease number of moving parts
Specification Closed Loop operation Decrease Weight Decrease Height
What types of Door Operators are available?Harmonic:
Motion controlled pendulum arm, more mechanical, heavy duty, adjustable for use with most opening types and sizes.
Linear: Driven from the top of the door panel by a single
belt or cable that spans the opening.
Common Door Operator Considerations 2 OF 2
Common Door Operator Considerations 2 OF 2
What Operator will you use? Heavy/Glass Doors Mix of heavy and light doors in the same hoistway – closed
loop offers best solution. Odd sized openings
What does closed-loop mean? The door operator controller operates based on encoder feedback
that indicates the position of the door panel in the opening.
Why are door times important? Maximum operator performance improves floor-to-floor times
Harmonic Operator AdvantagesHarmonic Operator Advantages
Mechanically creates door open and close profiles
Proven design
Flexible (same equipment can be used on a wide variety of opening types and widths and tracks)
Widely recognized by elevator technicians
Preferred by most technicians for modernization projects
Can be adjusted or modified to work with track and hoistway equipment from other manufacturers
Harmonic Operator DisadvantagesHarmonic Operator Disadvantages
Too many moving parts with bearings that can create noise and or fail
Complicated initial installation and setup Heavy Mounts on top of Cab and requires a significant overhead
space Rotating components and linkage add mass to the door
equipment causing increased kinetic energy effecting minimum door close times
Drive linkage is typically mounted to the back of the door limiting the use of glass doors without the use of special door panels
Linear OperatorsLinear Operators
Door panels are driven by the pendants (hangers) that are driven by a worm gear, cable, chain or belt that extends the full length of the opening.
Widely used in Europe before being introduced in the United States
Became more popular after microprocessor controls were introduced
Microprocessor (CPU) Control (Advantages)
Microprocessor (CPU) Control (Advantages)
Creation and modification of Open and Close profiles without the need for adjustment of switches or sensors
Required for Closed loop operation (makes calculations based on encoder feedback) Varies the motor current and voltage to insure that the
door follows the programmed profile Door opening and closing times remain the same for
heavy or light doors in the same hoistway When combined with motor current sensing
technology, the need for Limit switches can be eliminated.
Linear OperatorAdvantagesLinear OperatorAdvantages
CPU controlled Fewer moving parts Decreased installation time Track assembly incorporated with the
operator Limit switches no longer required on many
models. Access to key components from the front of
the car Utilizes HTD belt drive to reduce noise
Part III: Door Closing RulesPart III: Door Closing Rules
ASME Rules for the closing of Horizontally sliding doors.
Kinetic EnergyClosing Force
ASME Rules for Closing Force.
ASME A17.1 - 2010 section on Closing Force
2.13.4 Closing Limitations for Power-Operated Horizontally Sliding Hoistway Doors and Horizontally Sliding Car Doors or Gates
Note: Rule numbers sometimes change with newer revisions of the code but the section descriptions usually remain the same.
Rules for Door Closing Force
2.13.4.2.1 Kinetic Energy (measured in ft-lbf)
2.13.4.2.3 Door Force (measured in lbf)
Kinetic Energy Formula
Kinetic Energy ExampleEnergy stored in a moving object (mass).
Example driving a 3.5” nail with a hammer.The kinetic energy is created by the movement of mass.
Masses that are moving when driving a nail include: Mass and speed of the arm of the person swinging the hammer Mass and speed of the hammer handle Mass and speed of the hammer head
The kinetic energy is created by swinging the hammer is applied to the head of the nail causing it to move.
As stated in ASME A17.1 – 2010 2.13.4.2.1 Kinetic Energy (measured in ft-lbf)
Kinetic Energy is a calculated value based on the known mass, opening width and speed of the mass.
Kinetic Energy for Elevator Doors
Elevator door mass included in Kinetic Energy calculation According to 2.13.4.2.1
Car side: Rotation inertia from motors, pulleys and or levers that pivot.
Any component that moves with the door panels including, pendants (Door Hangers), clutch, restrictor hook w/linkage, gibs, hardware and Door Panel (s).
Hatch side: Pendant assemblies (Door Hangers)Gibs, Fire Clips, Fire Retainers, interlock hook w/linkage, pickup
roller assembly hardware and Door Panel (s).
Door Panels makeup at least 90% of the total mass; therefore, door panels have the largest effect on kinetic energy calculations.
Kinetic Energy Data
Kinetic Energy Graph
Kinetic Energy Data Plate
Closing Force
ASME A17.1 – 2010 2.13.4.2.3 Door Force (measured in lbf)
This is one of the most misunderstood rules with regard to door operation because the term lbf is used instead of lb.
1 lbf = 1 pound of force which is measured as one pound (lb). A one pound force does not indicate movement. It indicates
the potential that an object exerts against another object. Pound force (lbf) unlike foot pound force (ft-lbf) can be
measured using the same instrument used to weight an object.
Typically a spring gauge is used to measure elevator door pressure.
The rule allows for a maximum of 30 lbf of pressure to be applied to an elevator door.
Closing Force Measurment
Accepted method for measuring Closing Force. The car should be at a landing. While closing the door, stop the door panel in the center
of its travel using your foot. Place a spring gauge against the lead edge of the car or
hoistway door panel. Hold the gauge solid so that you can keep the door from
moving. Remove your foot allowing the panel to push against the
gauge. After the panel has stopped moving, remove the gauge
and record the value. Reset the gauge and retest several times to verify the
value.
Door OperatorsDoor Operators
David Sutton
Columbia Elevator Products
(888) 858-1558 extension 4320
Glossary:Door Equipment Definitions ASME A17.1: The safety standard for all new elevator equipment.
Clutch or Vane: Mounts to the car door and couples with pickup rollers on hoistway doors when the car is at a landing. The clutch provides the interface between the car and hoistway doors. Vanes perform the same function in a different manor.
CEPCO description for Clutches and Vanes: Clutches grip the outside edges of the pickup rollers. Vanes push against the inside edges of the pickup rollers.
CPU: Central Processor Unit
Door Coupling: Refers to the method used to couple the car and hoistway doors. 3 standard methods used are:
Door mounted Clutch with door mounted pickup rollers Door mounted Vane with door mounted pickup rollers Pendant mounted Clutch with pendant mounted pickup rollers
Glossary:Door Equipment Definitions
Door Drive: Pickup roller assembly located on the hoistway door.
DPM: Door Position Monitor – required by ASME A17.1 2000 code.
Gate Switch: Safety switch that indicates that the car door is fully closed. This device is mounted to the car header on the strike side of the opening. On center opening doors this is located on the strike side near the center of the header.
Hangers: These can refer to the entire Header, Track and Pendant assembly or just the pendant / hanger assembly. Descriptions for this item vary from Customer to Customer.
Interlock: Safety switch that is a mechanical lock with an electrical contact that typically indicates when the hoistway doors are closed and locked. Recently being used on car doors.
Glossary:Door Equipment Definitions
Long Lever: Lever used to with Harmonic Operators to move the doors.
Pickup rollers: Mount to the hoistway doors and couples with the clutch or vane on the car door. Has one stationary and one moving roller that unlocks the door(s).
Restrictor: Device for locking car doors when the elevator car is between floors (landings).
Rotational Inertia: Calculation of kinetic energy in joules for a rotating object (mass).
Unlocking Zone: The maximum distance allowed above and below a floor for coupling of the car and hoistway doors. This distance is specified by ASME and has changed in 2013 from 12” to 7”.
