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Arduino Resolver Module

This document describes how to use an Arduino resolver module to determine the position of a resolver. It is an intermediate tutorial that requires supplies including an Arduino Nano, resolver module, resolver, breadboard, jumper wires and battery or power supply. The tutorial provides step-by-step instructions to connect the components, load code to the Arduino that will excite the resolver and read the sine and cosine signals to calculate the position between -180 and 180 degrees, and enjoy testing the rotation of the resolver.

Uploaded by

T.Selkirk
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
69 views

Arduino Resolver Module

This document describes how to use an Arduino resolver module to determine the position of a resolver. It is an intermediate tutorial that requires supplies including an Arduino Nano, resolver module, resolver, breadboard, jumper wires and battery or power supply. The tutorial provides step-by-step instructions to connect the components, load code to the Arduino that will excite the resolver and read the sine and cosine signals to calculate the position between -180 and 180 degrees, and enjoy testing the rotation of the resolver.

Uploaded by

T.Selkirk
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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instructables

Arduino Resolver Module

by Tiny9

Tinee9 is back with a new module. This module is Tutorial Plug and Play: Intermediate Level
called a Resolver module.
Supplies:
In the world of motor control there are various types
1: Arduino Nano
or methods of detecting position. Those method
include hall sensors, XY sensors, resolver, RVDT,
2: Resolver Module
LVDT, field directors, potentiometer, etc. Depending
on how each of these sensors are set up you can
3: Bread Board
even determine your absolute position with out even
having to save the last position to memory.
4: 9.0 Volt Battery or NScope
The module I am using can be used to demodulate an
5: Resolver
RVDT, LVDT, and Resolver but for today's purpose
will be demodulating a resolver.
6: 10x Bread board Jumper Wires
Technical Understanding: Expert Level

Arduino Resolver Module: Page 1


Step 1: Resolver Module

There are a couple of things you can do with a resolver you can demodulate a motor for motor commutation, you
can get absolute position if you do not go past the null point, and you can retrieve speed from a motor.

Where I have seen them used most is in aerospace applications of aileron, rudder, missile fin, or camera control.

They tend to be a bit pricier than a pot or hall sensor but they give you incredible resolution.

Arduino Resolver Module: Page 2


Arduino Resolver Module: Page 3
Step 2: Setup

1: First you will need to place your arduino nano on a 8: Connect the Resolver EX- wire to EX- on the
bread board Resolver Module

2: You need to hook up the 5V Pin on the Arduino to 9: Connect the Resolver COS+ wire to COS+ on the
the +3V3 Pin and 5V pin on the Resolver Module Resolver Module
(The module can have a supply of 3.3V while giving a
5V excitation on the resolver) 10: Connect the 2 Resolver RCOM wires to RCOM
on the Resolver Module
3: Connect RTN on the Arduino to the RTN on
Resolver Module 11: Connect the Resolver SIN+ wire to SIN+ on the
Resolver Module
4: Connect the D9 on the Arduino to the PWM on the
Resolver Module 12: Hook up 9V Battery to RTN (-)and VIN (+)

5: Connect A0 on the Arduino to MCU_COS+ on the 13: Or Hook up Nscope +5V to 5V Pin on Arduino
Resolver Module and RTN on Nscope to RTN on Arduino

6: Connect A1 on the Arduino to MCU_SIN+ on the 14: Hook up Scope to USB on PC


Resolver Module
15: Hook up Arduino to USB on PC
7: Connect the Resolver EX+ wire to EX+ on the
Resolver Module

Arduino Resolver Module: Page 4


Step 3: Load the Code

Arduino Resolver Module: Page 5


Copy Paste the Arduino Code below to your Sketch int A = A0;
in the Arduino IDE
int B = A1; int pwm = 9; int c1 = 0; int c2 = 0; int c3 =
What this code is going to do is going to PWM the 0; int c4 = 0; int c5 = 0; int c6 = 0; int s1 = 0; int s2 =
Resolver Module. That Module will excite the resolver 0; int s3 = 0; int s4 = 0; int s5 = 0; int s6 = 0; float
and produce a squarish wave on the secondary coils output = 0.00; int sin1 = 0; int cos1 = 0; int
of the resolver. The signals that come out of the Sin+ position_state = 1; int get_position = 0; void setup() {
and Cos+ then get fed to an OPAMP that will // put your setup code here, to run once:
centerish the Wave and reduce the output so that it pinMode(pwm, OUTPUT); Serial.begin(115200); }
goes between 0-5Volts.
void loop() {
Sin+ and Cos+ are as they mean. The Sin is 90
degrees out of phase with the Cos wave. if(get_position<5){ switch(position_state){ case(1):
digitalWrite(pwm, HIGH); delayMicroseconds(15);
Since they are 90 degrees out of phase we need to position_state +=1; break; case(2): position_state
use the Atan2 (Cos, Sin) function to get the correct +=1; delayMicroseconds(5); break; case(3):
coordinate of the resolver position. position_state +=1; c1+= analogRead(A); s1+=
analogRead(B); delayMicroseconds(5); break;
Then the Arduino will spit out, after it has gotten 4 case(4): position_state +=1; c2+= analogRead(A);
samples, a value between -3.14 and 3.14 which s2+= analogRead(B); delayMicroseconds(5); break;
represent -180 degrees and +180 degrees case(5): position_state +=1; delayMicroseconds(5);
respectively. This is why if you want to use the break; case(6): position_state +=1; digitalWrite(pwm,
resolver for absolute position you must only use LOW); delayMicroseconds(5); break; case(7):
between -180 and 180 with out over rotating or else position_state +=1; delayMicroseconds(5); break;
you will roll over and think you are back at the case(8): position_state +=1; c3+= analogRead(A);
beginning or end of your actuator stroke. This would s3+= analogRead(B); delayMicroseconds(5); break;
be a problem if you decided to use a resolver for the x case(9): position_state +=1; c4+= analogRead(A);
or y axis of a 3D printer and rolled over causing the s4+= analogRead(B); delayMicroseconds(5); break;
3D printer to mess up. case(10): position_state = 1; get_position +=1;
delayMicroseconds(5); break; default: break; } } else
if(get_position>=5){ cos1 = (c1+c2)-(c3+c4); sin1 =
I could have made the code a little better with (s1+s2)-(s3+s4); output = atan2(cos1, sin1); c1 = 0;
interrupts to have more continuous PWMing but this c2 = 0; c3 = 0; c4 = 0; s1 = 0; s2 = 0; s3 = 0; s4 = 0;
will be sufficient for this application. Serial.print("Position: "); Serial.println(output);
get_position = 1; }

// put your main code here, to run repeatedly:

Arduino Resolver Module: Page 6


Step 4: Step 3: Have Fun

Enjoy rotating the resolver and learning how the resolver works and what applications you could use this resolver
module.

Arduino Resolver Module: Page 7

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