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
bread board
2: You need to hook up the 5V Pin on the Arduino to
the +3V3 Pin and 5V pin on the Resolver Module
(The module can have a supply of 3.3V while giving a
5V excitation on the resolver)
3: Connect RTN on the Arduino to the RTN on
Resolver Module
4: Connect the D9 on the Arduino to the PWM on the
Resolver Module
5: Connect A0 on the Arduino to MCU_COS+ on the
Resolver Module
6: Connect A1 on the Arduino to MCU_SIN+ on the
Resolver Module
7: Connect the Resolver EX+ wire to EX+ on the
Resolver Module
Arduino Resolver Module: Page 4
8: Connect the Resolver EX- wire to EX- on the
Resolver Module
9: Connect the Resolver COS+ wire to COS+ on the
Resolver Module
10: Connect the 2 Resolver RCOM wires to RCOM
on the Resolver Module
11: Connect the Resolver SIN+ wire to SIN+ on the
Resolver Module
12: Hook up 9V Battery to RTN (-)and VIN (+)
13: Or Hook up Nscope +5V to 5V Pin on Arduino
and RTN on Nscope to RTN on Arduino
14: Hook up Scope to USB on PC
15: Hook up Arduino to USB on PC
Step 3: Load the Code

Arduino Resolver Module: Page 5

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