SANPO
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、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.
信号隔离Signal Isolation隔离版提供 CAN / RS485 信号隔离，适合强干扰和长距离传输场景。Isolated versions provide CAN / RS485 signal isolation for high-noise and long-cable scenarios.
SANPO integrated board

快速选型Quick Selection

按通信总线、信号隔离、固件版本和 CAN FD 需求选择合适的集成板版本。Choose the right integrated board by bus type, signal isolation, firmware version, and CAN FD needs.

Standard Board
V4 固件V4 FirmwareCAN / RS485CAN / RS485

标准板Standard Board

适合同时接入 CAN 和 RS485 设备的混合控制场景，用于快速验证和开发集成。For mixed-control scenarios that use both CAN and RS485 devices, including quick validation and development integration.

立即购买Buy Now
Isolated Board (CAN)
V4 固件V4 FirmwareCAN 隔离CAN Isolation抗干扰Noise Resistant

隔离版(CAN)Isolated Board (CAN)

适合以 CAN 总线为主，并需要信号隔离、抗干扰或长距离传输的项目。For CAN-focused projects that need signal isolation, noise resistance, or long-cable communication.

立即购买Buy Now
Isolated Board (RS485)
V4 固件V4 FirmwareRS485 隔离RS485 Isolation抗干扰Noise Resistant

隔离版(RS485)Isolated Board (RS485)

适合以 RS485 总线为主，并需要信号隔离、抗干扰或长距离传输的项目。For RS485-focused projects that need signal isolation, noise resistance, and long-distance transmission.

立即购买Buy Now
FDCAN Upgrade Board
V6 固件V6 FirmwareCAN / CAN FD / RS485CAN / CAN FD / RS485

FDCAN升级版FDCAN Upgrade Board

适合以 CAN FD 为主，同时需要兼容 CAN 和 RS485 混合控制的项目、快速验证和开发集成。支持SocketCan。For projects, quick validation, and development integration where CAN FD is primary while CAN and RS485 mixed control remains needed.

立即购买Buy Now

版本对比Version Comparison

以下硬件参数覆盖标准版、隔离版(CAN)、隔离版(RS485) 和 FDCAN升级版。The hardware parameters below cover the Standard, Isolated (CAN), Isolated (RS485), and FDCAN Upgrade Board versions.

参数Parameter标准版Standard Version隔离版(CAN)Isolated Version (CAN)隔离版(RS485)Isolated Version (RS485)FDCAN升级版FDCAN Upgrade Board
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
固件版本Firmware VersionV4 固件（STM32F407 平台）V4 firmware (STM32F407 platform)V6 固件（STM32G473 平台）V6 firmware (STM32G473 platform)
设备总线Device Bus4 路独立 CAN 4 路独立 RS485 支持 CAN + RS485 混合使用，支持SocketCan4 independent CAN buses 4 independent RS485 buses Supports mixed CAN + RS485 usage4 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 scenarios4 路独立 RS485 板载 RS485 信号隔离器 适用于强干扰、长距离传输4 independent RS485 buses Built-in RS485 signal isolation For high-noise and long-cable transmission scenarios4 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
信号隔离器标准Signal Isolation Standard无NoneISO11898-2ISO11898-2TIA/EIA RS-485TIA/EIA RS-485无None
信号隔离器材质Signal Isolation Material无NoneSiO2 绝缘栅SiO2 insulation barrier无None
信号隔离器瞬态抗扰度Signal Isolation CMTI无None50kV/us50kV/us无None
控制方式Control InterfaceUSB、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 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 sideXT60 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 sideXT60 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 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 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
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 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
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

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.

V4 与 V6 固件差异V4 and V6 Firmware Differences

V4 固件基于 STM32F407 平台
V6 固件基于 STM32G473 平台
集成板出厂时已预装对应硬件版本的固件V4 firmware is based on the STM32F407 platform
V6 firmware is based on the STM32G473 platform
Integrated boards ship with firmware preinstalled for the corresponding hardware version

V4 固件适用于标准版、隔离版(CAN)、隔离版(RS485)
支持 USB / SPI 转 CAN / RS485
支持 SocketCanFor Standard Board, Isolated Board (CAN), and Isolated Board (RS485)
Supports USB / SPI to CAN / RS485
Supports SocketCan查看 V4 开发文档View V4 Docs
V6 固件适用于 FDCAN升级版
支持 USB / SPI 转 CAN / CAN FD / RS485
支持 SocketCanFor FDCAN Upgrade Board
Supports USB / SPI to CAN / CAN FD / RS485
Supports SocketCan查看 V6 开发文档View V6 Docs