You're on the right track to figuring out which pins are which contact closure. However, the contacts inside of the ACS are not designed to switch much current, thus the outboard relay board. If you want to homebrew this, I would use a small power supply and a relay to slave off of the ACS to control your door opener.
Once again, thank you. I assumed I'll have to make my own relay assembly, but you've saved me the anxiety about blindly applying anything to the contacts.
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