Swing door-based entrance system with automatic recognition of linkage reduction

A method (100) of operating an entrance system (1) which comprises a swing door member (10) having a door leaf (12) and a sensor unit (S1;

• S) mounted to the door leaf (12), the sensor unit comprising a door angle sensor (S1), and which furthermore comprises an automatic door operator (30) having a motor (34) capable of causing movement of the door member (10), a controller (31) for controlling operation of the motor (34), and a linkage (40) connected to the automatic door operator (30) and the door leaf (12) for transferring torque generated by the motor (34) to the door leaf (12), the method involving:
• operating (110) the automatic door operator (30) in a learn mode (60) which involves:
• controlling (120) said motor (34) to cause movement of said door leaf (12) between a shut closed position (18) of said door leaf and a swung open position (19) of said door leaf;
• obtaining (130) measurement readings of said door angle sensor (S1) during said movement;
• determining (140) different door leaf angles (α) from the obtained measurement readings;
• and
• automatically establishing (150) a linkage reduction curve (65) by determining the torque required by said motor (34) to cause said movement of said door leaf (12) at said different door leaf angles (α);
• and
• operating (160) the automatic door operator (30) in an operational mode (70) which involves:
• controlling (170) said motor (34) to cause movement of said door leaf (12) to swing open while applying the linkage reduction curve (65) to compensate for a non-linear torque transfer characteristic of said linkage (40).