SANPO
电机通信与实时控制集成Integrated Board Product Detail

SANPO 集成板SANPO Integrated Board隔离版(CAN)Isolated Board (CAN)

面向强干扰、长线连接和复杂电气环境的 CAN 隔离版本。A CAN-isolated V4 board for noisy, long-cable, and electrically complex environments.

CAN 隔离CAN Isolation固件 V4V4 Firmware抗干扰Noise Resistant
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SANPO Integrated Board Isolated Board (CAN)

产品介绍Product Introduction

SANPO 集成板是机器人系统中的实时控制与接口集成模块，用于连接算力板、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 compute boards, hosts, 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，总线侧带信号隔离，适合强干扰和长距离传输。Covers CAN with bus-side signal isolation for high-noise and long-cable scenarios.
多路控制接口Host Control Interfaces通过 USB、SPI、串口、SocketCan接入上位机或算力板。Connects to hosts or compute boards 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.
信号隔离Signal IsolationCAN 总线侧提供信号隔离，提高抗干扰和长距离传输可靠性。CAN bus-side signal isolation improves noise resistance and long-cable reliability.

硬件规格Hardware Specifications

处理器Processor两颗 STM32F407 芯片 Cortex-M4 主频 168MHz FLASH 512KB-1MBDual STM32F407 MCUs Cortex-M4 at 168MHz FLASH 512KB-1MB
开发支持Development SupportST 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 and IOC configuration
设备总线Device Bus4 路独立 CAN 板载 CAN 信号隔离器 适用于强干扰、长距离传输4 independent CAN buses Built-in CAN signal isolation For high-noise and long-cable transmission scenarios
电机系统供电Motor PowerXT60 接口输入 9V~58V 电机电源 支持强电侧高电压、大电流供电XT60 connector input for 9V-58V motor power Supports high-voltage, high-current supply on the motor power side
控制系统供电Control System PowerUSB、5V 接线座、上位机/算力板 5V GPIO 由弱电侧上位机、算力板或独立 5V 电源供电USB, 5V terminal, host/compute-board 5V GPIO Powered by a host, compute board, or independent 5V supply
输出电源Power OutputXT30(2+2) 集成接口输出 9V~58V 电机电源 提供 3.3V 传感器供电输出XT30(2+2) integrated connector outputs 9V-58V motor power Provides 3.3V sensor power output
控制方式Control InterfaceUSB、SPI、串口USB, SPI, UART
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
CAN 总线 ESDCAN Bus ESD250W 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 ESDIEC 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
RS485 总线 ESDRS485 Bus ESDIEC 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
信号隔离器标准Signal Isolation StandardISO11898-2ISO11898-2
信号隔离器材质Signal Isolation MaterialSiO2 绝缘栅SiO2 insulation barrier
信号隔离器瞬态抗扰度Signal Isolation CMTI50kV/us50kV/us

接口能力Interface Capabilities

USB 转 CANUSB to CAN
SPI 转 CANSPI to CAN
隔离 CAN 总线接入Isolated CAN bus access

典型应用Typical Applications

CAN 干扰环境Noisy CAN environments
长线 CAN 连接Long-distance CAN cabling
多电源机器人系统Multi-power robot systems

软件与固件支持Software and Firmware Support

请根据产品版本进入对应文档，查看快速开始、接线方式、通信协议、示例代码、固件更新和故障排查。Use the matching docs for quick start, wiring, protocols, examples, firmware updates, and troubleshooting.

查看对应版本文档Open Matching Docshttps://docs.sanporobot.com/v4/zh/Motor Studio在线连接和调试 CAN、RS485、CAN FD 设备。Connect and tune CAN, RS485, and CAN FD devices online.

开发者交流社区Developer Community

加入 SANPO 开发者交流群，交流产品使用、技术问题、示例代码和版本更新信息。Join the SANPO developer group to discuss product usage, technical issues, sample code, and release updates.

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