An elevator system includes a linkage, a control system and a friction belt drive. The linkage is adapted to attach to an elevator door. The friction belt drive is adapted to move the elevator door with the linkage between an open position and a closed position. The friction belt drive includes a v-belt with one or more markers arranged along a length of the v-belt. The control system is adapted to control the friction belt drive, and includes a sensor adapted to detect at least one of the markers.