> For clean Markdown of any page, append .md to the page URL. > For a complete documentation index, see https://docs.stereolabs.com/llms.txt. > For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.stereolabs.com/_mcp/server. # ZED Box Mini Connectivity ## Connection Ports ### Front side | ![ZED Box Mini Front](/_fern-img/e8e6faf4177ce04a147d3cebda2e876f525061f636d8851826837077c6d9dbe1.webp) | ![Mini Carrier Front](/_fern-img/f778f7f40cad61feca26fee4bf119136f9a68267816dc5f809693b93d88bb82c.webp) | | :-------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------: | | ZED Box Mini Front | Mini Carrier Front | * [Power connector](#power-input) * [Ethernet connector](#ethernet-lan) * Power LED indicator * Reset button * Force Recovery button ### Left side ![ZED Box Mini Left](/_fern-img/4786fcc0407a0f7108673fa58523678ad18ea5e0654b4905ff9ea4f8b296e070.webp) * \[optional] Wi-Fi antenna connectors ### Rear side | ![ZED Box Mini Rear](/_fern-img/3e0d8f4166e703324b3cbce7160d30ca1f1d54302205097d13912d179e939b43.webp) | ![Mini Carrier Rear](/_fern-img/3f2dc78208cc0c13306411fc4e7262e2933f32fe8450ac65a5f56f3fe3cac5c9.webp) | | :-----------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------------: | | ZED Box Mini Rear | Mini Carrier Rear | * [USB OTG port](#micro-usb-20---otg) * [USB 3 port](#usb-30) * [GMSL2 connectors](#gmsl2) ### Right side | ![ZED Box Mini Right](/_fern-img/714d4e751f8c30e02c5faf9514e16f31a621e1c22b82de1eaf331473caa0f714.webp) | ![Mini Carrier Right](/_fern-img/c1444237e72b1d053d089dbf03433bc0243fa11ce8459f0375de79d477e90e26.webp) | | :-------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------: | | ZED Box Mini Right | Mini Carrier Right | * [GPIO port](#gpio) * [FAN connector](#fan) * [HDMI port](#hdmi) * [SYNC-IN port](#sync-in) * [SYNC-OUT port](#sync-out) ### Carrier Board | ![Carrier Top](/_fern-img/aa86d2ceab3b2eb59d1030e4ebd4c089f0f0306d873fc896f4209fb0ce043e14.webp) | ![Carrier Bottom](/_fern-img/e2a0f42fd682a6c4bac0b88196c682ec3a0f324ad9db8d4695abf7e5be5b01ca.webp) | | :-----------------------------------------------------------------------------: | :-----------------------------------------------------------------------------------: | | Carrier Top | Carrier Bottom | \* \[Optional] Orin NX and Orin Nano compute modules. \*\* \[Optional] Intel AX210 Module or compatible. > **Note** > > Use a **CR1220** coin cell battery to enable the system RTC. > **Warning** > > If the device does not keep the date and time while powered off, the **CR1220** RTC coin cell battery is discharged. Follow the [battery replacement guide](/docs/products/embedded/zed-box-mini/troubleshooting/#zed-box-mini-not-keeping-date-and-time-when-powered-off) to replace it. ## Power input DC 10.5V to 13.5V - 60W max ![image](/_fern-img/fe935a6452c3b03345211bde8ea171c7b56a9c4cdcf0a9ce8bec3b5044c6e163.webp) ### Pinout Power * \#1 - DC IN 12V * \#2 - GND Use the provided 12V 60W power supply or a regulated 12V input. > **Warning** > > Please ensure that the voltage of DC IN 12V is correct before connecting it to the system. > **Warning** > > Supplying a voltage over 16V could damage the system. Connector type: TBP01P1W-508-02GR > **Note** > > For battery power, we recommend using a 4S Lithium or Lithium Polymer battery with a 60W 12V DC-DC converter to guarantee a stable power voltage. ## Ethernet (LAN) The ZED Box Mini series comes with one Gigabit Ethernet LAN port supporting 10/100/1000 BASE-T with an RJ45 connector. This connector is equipped with two green LEDs indicating LAN link and activity on this port. ![image](/_fern-img/80f702f9bf2177fcb596e0cb2ce6bc99b76465415ac9300b091db73592c230e7.webp) ### Pinout LAN * \#1 - MDI0\_P \[TX+] * \#2 - MDI0\_N \[TX-] * \#3 - MDI1\_P \[RX+] * \#4 - MDI2\_P * \#5 - MDI2\_N * \#6 - MDI1\_N \[RX-] * \#7 - MDI3\_P * \#8 - MDI3\_N ## GPIO ![image](/_fern-img/d581d19ea75d740c0411e73a8052f664e031f71861c7ece738004dfffbd0a3f8.webp) ### Pinout GPIO * \#01 - VCC\_5V * \#02 - GND * \#03 - GPIO\_11 \[CMOS-3.3V] * \#04 - GPIO\_12 \[CMOS-3.3V] * \#05 - CAN\_RX \[CMOS-3.3V] * \#06 - CAN\_TX \[CMOS-3.3V] * \#07 - VCC\_3V3 * \#08 - GND * \#09 - UART\_RXD \[CMOS-3.3V] * \#10 - UART\_TXD \[CMOS-3.3V] > **Note** > > 1. The **UART** pins on this connector are 3.3V compliant. > 2. The **GPIO** pins on this connector are 3.3V compliant. > 3. The **CAN** pins on this connector are directly connected to the Jetson™ module and are **CMOS-3.3V** compliant. **Please ensure to use a dedicated CAN transceiver on this end of the system before using this connection as a CAN BUS.** NVIDIA® recommends using the [Waveshare SN65HVD230](https://www.waveshare.com/sn65hvd230-can-board.htm), featuring the [TI SN65HVD230](https://www.ti.com/product/SN65HVD230) CAN transceiver. > **Warning** > > Using electrical signals that do not conform to the specifications may cause significant damage to the device, which is not covered by the warranty. | ![UART2 level shifter](/_fern-img/f124984d942deff0c48a83b6f2ae39603c4151d1f7406bf6b659f25ce00490b3.webp) | ![GPIO level shifter](/_fern-img/6646f4afc704ced2cb9c666497571cbced07d5992e07fa267e6b8b10b7944f87.webp) | ![CAN pins](/_fern-img/423ba00f254967e2e64fc32a04c1fd3d1df9e49f66d33d52917671fd492c98ac.webp) | | :---------------------------------------------------------------------------------------------: | :-------------------------------------------------------------------------------------------: | :-----------------------------------------------------------------------: | | UART2 Level Shifter | GPIO Level Shifter | CAN Pins | ### Using **GPIO\_11** and **GPIO\_12** Please refer to the dedicated documentation page: [Using the GPIOs on your ZED Box Mini](/docs/products/embedded/zed-box-mini/using-gpio/). ## FAN The ZED Box Mini includes a dedicated 12V-compatible fan connector to support active cooling solutions. The fan with a mounting plate is also available for purchase [on our website](https://www.stereolabs.com/store/products/fan-for-zed-box-mini), recommended for high-power workloads on the selected NVIDIA® Jetson™ module. See [Power Modes](/docs/products/embedded/zed-box-mini/power-modes) to tune the power consumption of the module. ![image](/_fern-img/a7d81d2b399e4d5fe77389f354b5b812daeb0610b46dabd3364466188dd2c521.webp) ### Pinout FAN * \#01 - FAN\_12V * \#02 - GND > **Warning** > > If using a third-party fan, ensure it operates at 12V and does not exceed 500mA of current draw. Exceeding this limit will trigger the PTC (Positive Temperature Coefficient) fuse on the carrier board, interrupting power delivery and preventing fan operation. The connector is a [JST](https://www.jst.com/) 2-pin connector (2.50 mm pitch) that mates with **XHP-2**. #### Installing the FAN on the aluminum case 1. Screw the fan onto the aluminum support using the screws and inserts. ![image](/_fern-img/efdbd0583356c409ee8fcab595ed0cd7cbc8e1247c23b70ef5966e78fe56c1a2.webp) 2. Place the support on the ZED Box Mini and fix it on the sides using the two screws. ![image](/_fern-img/bb14489d8eaf6056526d5a95802e695fa866bac6eee54199808a854744a41003.webp) 3. Connect the fan connector to the fan port. ## HDMI The ZED Box Mini features an HDMI type-A connector, HDMI 1.4 compliant with Orin Nano modules and HDMI 2.1 compliant with Orin NX modules. With HDMI 2.1, it can display video with a maximum resolution of 3840×2160 @60Hz. For additional information regarding the pinout, please refer to the [HDMI standard](https://www.hdmi.org/). ## SYNC-IN The synchronization-input connector is used as a [frame-sync trigger input to synchronize image acquisition on multiple GMSL2 cameras connected to different ZED Box Minis](#multi-device-synchronization). The connector is a [Same Sky](https://www.sameskydevices.com/) (formerly CUI Devices) 3-pin Terminal Block connector that mates with **TBP02P1W-381-03BE**. ![image](/_fern-img/5e3acfab7ce0ad39fbb1d74de55e6622b90f9a246f085db4c42bb014aff52c87.webp) ### Pinout SYNC-IN * \#01 - TRIG\_INFO * \#02 - GND * \#03 - TRIG\_IN ### Set the device in slave mode You can configure the ZED Box Mini in **slave mode** to synchronize [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) camera image acquisition with an external trigger signal. This enables seamless integration with other ZED Box Minis or third-party sensors through the SYNC-IN connector. To enable the external trigger input, follow these steps: 1. Set `sync_mode=2` in the file `/etc/systemd/system/zed_x_daemon.service` to enable the external trigger input. ```bash sudo sed -i 's/^sync_mode=./sync_mode=2/' /etc/systemd/system/zed_x_daemon.service ``` 2. Reload the systemd configuration: ```bash sudo systemctl daemon-reload ``` 3. Connect PIN #02 (`GND`) to the ground signal of the trigger source. 4. Connect PIN #03 (`TRIG_IN`) to the trigger signal source, i.e., a 3.3V square wave signal. 5. Restart the driver by restarting the ZED X daemon service: ```bash sudo systemctl restart zed_x_daemon.service ``` To verify that the Slave configuration is active, run the command: ```bash sudo dmesg | grep Sync ``` The output should be similar to: ```bash [ XX.XXXXXX] sl_max9296 2-0048: Sync mode configured ``` You must use an external trigger signal with the following characteristics: * Square wave * Amplitude: 3.3V +/- 10% * Frequency: Match the camera grab frame rate setting used with the ZED SDK - 15Hz, 30Hz, 60Hz, or 120Hz ![GMSL2 sync input signal](/_fern-img/419179dcf35ad06e1d2d256cb8dae1a2cc9b230dd9b20106b0f48474ea2ba64b.webp) ## SYNC-OUT The synchronization-output connector is used as a [frame-sync trigger output to synchronize image acquisition on multiple GMSL2 cameras connected to different ZED Box Minis](#multi-device-synchronization). The connector is a [Same Sky](https://www.sameskydevices.com/) (formerly CUI Devices) 3-pin Terminal Block connector that mates with **TBP02P1W-381-03BE**. ![image](/_fern-img/5e3acfab7ce0ad39fbb1d74de55e6622b90f9a246f085db4c42bb014aff52c87.webp) ### Pinout SYNC-OUT * \#01 - GND * \#02 - GND * \#03 - TRIG\_OUT ### Set the device in master mode You can configure the ZED Box Mini in **master mode** to generate an external trigger signal for synchronizing multiple devices. This enables seamless integration with other ZED Box Minis or third-party sensors through the SYNC-OUT connector. The ZED Box Mini is configured to operate in **master mode** by default. In any case, if you change the mode, you can set the device back to master mode by following these steps: 1. Set `sync_mode=0` in the file `/etc/systemd/system/zed_x_daemon.service` to enable the external trigger output. ```bash sudo sed -i 's/^sync_mode=./sync_mode=0/' /etc/systemd/system/zed_x_daemon.service ``` 2. Reload the systemd configuration: ```bash sudo systemctl daemon-reload ``` 3. Connect PIN #02 (`GND`) to the ground signal of the external device. 4. Connect the external device to PIN #03 (`TRIG_OUT`) to receive the trigger signal. 5. Restart the driver by restarting the ZED X daemon service: ```bash sudo systemctl restart zed_x_daemon.service ``` ## GMSL2 The ZED Box Mini and the Mini Carrier Board offer two separate FAKRA connectors for [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2). Each [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) camera is connected to the box through a single coaxial cable, available in different lengths on our store. Using [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) (Gigabit Multimedia Serial Link) connections, the cameras connect to a two-port deserializer, the MAX9296A, which converts the video stream to MIPI CSI-2 and transmits it to the chosen Jetson™. ### Supported GMSL2 camera combinations It is possible to connect only one camera to each single [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) port. The table below illustrates the different behaviors that can be expected according to the camera type: | Camera Type | Camera Model | Max Resolution/FPS | | ----------- | ---------------------------------------- | ---------------------------------------------------- | | Monocular | ZED X One GS ZED X One S | HD1200\@60fps HD1080\@60fps SVGA\@120fps | | Monocular | ZED X One 4K *only available on port #0* | 4K\@15fps QHDPLUS\@15fps HD1200\@60fps HD1080\@60fps | | Stereo | ZED X ZED X Mini ZED X Nano | HD1200\@60fps HD1080\@60fps SVGA\@120fps | > **Note** > > It's not possible to connect two ZED X One 4K cameras. Only one ZED X One 4K connected to port #0 is supported. ## USB 3.0 A USB 3.0 Type-A connector supports up to 5Gbps data rate. It is compliant with the requirements of Super Speed (SS), High Speed (HS), Full Speed (FS), and Low Speed (LS). For additional information regarding the pinout, please refer to the USB Type-A standard. ## Micro-USB 2.0 - OTG The ZED Box Mini features a Micro USB 2.0 Type-B that can be used for OTG functions or paired with the Recovery button to flash a new image on the device. In non-recovery mode, this OTG port provides a serial output that can be used to monitor and access the device through a serial console. For additional information regarding the pinout, please refer to the Micro USB 2.0 Type-B standard. ## Multi-device synchronization The ZED Box Mini enables precise camera synchronization across multiple units via GMSL interfaces, ensuring accurate data alignment for large-scale deployments. This capability is essential for intelligent systems requiring synchronized multi-camera vision, such as smart infrastructure, entertainment venues, and logistics applications. ### Three-Device Synchronization Example ![image](/_fern-img/4c036f5cdc939500625a76b11646b79d9a0197ea3e4aeee9e0977ff3a2dc1cab.webp) 1. The **Master** device generates and transmits a clock signal to trigger frame acquisition for its connected [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras. 2. **Slave A** receives the **Master** clock signal and triggers frame acquisition for its connected [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras, then forwards the signal to **Slave B**. 3. **Slave B** receives the **Master** clock signal through **Slave A** and triggers frame acquisition for its connected [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras. Additional ZED Box Mini units can be daisy-chained in the same manner, propagating the **Master** clock signal across multiple devices in real time. > **Note** > > Multi-device synchronization is only available for [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras. USB 3 cameras do not support this feature. ### Configure the devices To enable multi-device synchronization, designate one ZED Box Mini as the **Master** and configure all others as **Slave** units. Once properly configured, all `grab` function calls made through the ZED SDK on each device will be synchronized to the **Master** clock signal with an accuracy of approximately 15 µs. #### Configure the Master device 1. Open a terminal on the ZED Box Mini designated as **Master**. 2. Enable external trigger output by setting `sync_mode=0`: ```bash sudo sed -i 's/^sync_mode=./sync_mode=0/' /etc/systemd/system/zed_x_daemon.service sudo systemctl daemon-reload sudo systemctl restart zed_x_daemon.service ``` #### Configure the Slave devices 1. Open a terminal on each ZED Box Mini designated as **Slave**. 2. Enable external trigger input by setting `sync_mode=2`: ```bash sudo sed -i 's/^sync_mode=./sync_mode=2/' /etc/systemd/system/zed_x_daemon.service sudo systemctl daemon-reload sudo systemctl restart zed_x_daemon.service ``` 3. Verify the Slave configuration on each device: ```bash sudo dmesg | grep Sync ``` Expected output: ```bash [ XX.XXXXXX] sl_max9296 2-0048: Sync mode configured ```