It doesn't require a door. It requires an entrance to, and egress from, the working space. If you are under the 2008 NEC or the 2011, then you do not need a second entrance. The 2005 NEC did not have the "less than 6 feet wide" criterion, so you would need a second entrance if that is your code of record. And yes, three feet in front of the equipment is all the working space you need.