电机通信与实时控制集成Real-time Control and Interface Layer
SANPO 集成板SANPO Integrated Board
SANPO 集成板是机器人系统中的实时控制与接口集成模块，用于连接主控板、上位机、关节电机、传感器和外设，承担总线通信、接口扩展、协议转换和底层实时控制任务。A SANPO integrated board is a real-time control and interface module in a robot system. It connects host controllers, computers, joint motors, sensors, and peripherals while handling bus communication, interface expansion, protocol bridging, and low-level real-time control.
实时控制Real-time Control处理电机通信、传感采集和底层执行控制。Handles motor communication, sensor acquisition, and low-level execution control.
总线通信Bus Communication覆盖 CAN、RS485、CAN FD 等常用机器人总线。Covers common robot buses including CAN, RS485, and CAN FD.
多路控制接口Host Control Interfaces通过 USB、SPI、SocketCan、串口接入上位机或主控板。Connects to hosts or host controllers through USB, SPI, SocketCan and UART.
外设接口集成Peripheral Interfaces通过串口、IIC、数模转换等接口连接传感器和外设。Connects sensors and peripherals through UART, I2C, DAC/ADC, and related interfaces.
强弱电分离Power Separation电机强电侧与控制弱电侧独立供电接入。Separates motor-side high power from control-side low-voltage power.
XT30(2+2)集成接口XT30(2+2) Integrated Connectors8 路 XT30(2+2) 集成接口，专为多电机控制设计。Eight XT30(2+2) integrated connectors designed for multi-motor control.
硬件规格Hardware Specifications
以下参数用于 SANPO SPINE 升级版，具体配置以最新产品规格为准。These parameters apply to the SANPO SPINE Upgrade Version. Refer to the latest product specifications for final configuration.
| 参数Parameter | SANPO SPINE 升级版SANPO SPINE Upgrade Version |
|---|---|
| 处理器Processor | STM32G 系列平台，面向实时通信与控制，具体配置以产品规格为准STM32G series platform, designed for real-time communication and control; see the latest product specifications for the exact configuration |
| 开发支持Development Support | ST 公司进口原装芯片，支持官方软件 STM32CubeIDE，SWD 调试功能，IOC 配置等Original ST chips, supports STM32CubeIDE, SWD debugging, IOC configuration, and more |
| 固件版本Firmware Version | 预装 V8 固件（STM32G 系列平台），配套 SANPO Studio/CANgaroo等多种电机调试工具Pre-installed V8 firmware (STM32G series platform), compatible with SANPO Studio, CANgaroo, and other motor debugging tools |
| 设备总线Device Bus | 4 路独立 CAN/FDCAN 4 路独立 RS485 支持 CAN/FDCAN + RS485 混合使用，支持SocketCan4 independent CAN/FDCAN buses 4 independent RS485 buses Supports mixed CAN/FDCAN + RS485 usage, SocketCan Supported |
| 控制方式Control Interface | USB、SPI、串口USB, SPI, UART |
| 电气隔离Electrical Isolation | 强电与弱电分别供电，电机电源与控制电源独立接入Separate power inputs for the high-power motor side and low-voltage control side |
| 电机系统供电Motor Power | XT60 接口输入 0V~58V 电机电源 支持强电侧高电压、大电流供电XT60 connector input for 0V-58V motor power Supports high-voltage, high-current supply on the motor power side |
| 控制系统供电Control System Power | USB、5V 接线座、5V 排针 由弱电侧独立 5V 电源供电USB, 5V terminal, 5V header Powered by an independent low-voltage 5V supply |
| 输出电源Power Output | XT30(2+2) 集成接口输出 0V~58V 电机电源 提供 3.3V 传感器供电输出XT30(2+2) integrated connector outputs 0V-58V motor power Provides 3.3V sensor power output |
| 终端电阻Termination Resistor | 每路总线独立 120 欧终端电阻Independent 120-ohm termination resistor for each bus |
| 电源 ESDPower ESD | 峰值 1.5KW，TVS 钳位电压 93VPeak 1.5KW, TVS clamping voltage 93V |
| RS485 总线 ESDRS485 Bus ESD | IEC 61000-4-2 (ESD Air): +/-20kV IEC 61000-4-2 (ESD Contact): +/-15kV IEC 61000-4-5 (Lightning 8/20us): 12AIEC 61000-4-2 (ESD Air): +/-20kV IEC 61000-4-2 (ESD Contact): +/-15kV IEC 61000-4-5 (Lightning 8/20us): 12A |
| CAN 总线 ESDCAN Bus ESD | 250W 峰值脉冲 (8/20us) IEC 61000-4-2 (ESD Air): +/-30kV IEC 61000-4-2 (ESD Contact): +/-30kV IEC 61000-4-5 (Lightning 8/20us): 5A250W peak pulse (8/20us) IEC 61000-4-2 (ESD Air): +/-30kV IEC 61000-4-2 (ESD Contact): +/-30kV IEC 61000-4-5 (Lightning 8/20us): 5A |
| GPIO ESDGPIO ESD | IEC 61000-4-2 (ESD Air): +/-20kV IEC 61000-4-2 (ESD Contact): +/-18kV IEC 61000-4-5 (Lightning 8/20us): 4AIEC 61000-4-2 (ESD Air): +/-20kV IEC 61000-4-2 (ESD Contact): +/-18kV IEC 61000-4-5 (Lightning 8/20us): 4A |
以上参数用于选型参考；版本配置如有更新，请以最新规格书和实际产品为准。The parameters above are for selection reference. If version configurations are updated, please refer to the latest specification and actual product.