电机通信与实时控制集成Integrated Board Product Detail
SANPO 集成板SANPO Integrated BoardFDCAN升级版FDCAN Upgrade Board
支持 USB / SPI 转 CAN FD / CAN / RS485 的新一代机器人实时控制与接口集成板。A next-generation robot real-time control and interface board with USB / SPI to CAN FD / CAN / RS485 support.
推荐新项目Recommended for New ProjectsCAN FDCAN FD固件 V6V6 FirmwareSTM32G4STM32G4
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、CAN FD、RS485，适合新项目和后续扩展。Covers CAN, CAN FD, and RS485 for new projects and future expansion.
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.
硬件规格Hardware Specifications
处理器Processor两颗 STM32G473 芯片
Cortex-M4 主频 170MHz
FLASH 512KB-1MBDual STM32G473 MCUs
Cortex-M4 at 170MHz
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/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
电机系统供电Motor PowerXT60 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 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 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
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
接口能力Interface Capabilities
USB 转 CAN FD / CAN / RS485USB to CAN FD / CAN / RS485
SPI 转 CAN FD / CAN / RS485SPI to CAN FD / CAN / RS485
适合 Jetson / 树莓派 / 工控机接入Works with Jetson, Raspberry Pi, and industrial PCs
典型应用Typical Applications
CAN FD 电机或设备调试CAN FD motor and device tuning
CAN / RS485 混合系统升级CAN / RS485 mixed-system upgrades
长期平台与新项目Long-term platforms and new projects
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.
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.
论坛Forumforum.sanporobot.com
QQ群 / QQ Group760101443