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# ZED Box 2 Connectivity

## Connection Ports

### Front panel

![ZED Box 2 front panel](/_fern-files/_img/93b3c43e6e5b09b8cce3c8ed3607f926715e46ec837babd50786f3c7753934ee.webp)

* [Power input](#power-input)
* [2x Gigabit Ethernet ports](#ethernet-lan)
* [CAN 1 and CAN 2 ports](#can-1-and-can-2)
* [2x Quad GMSL2 FAKRA-Z connectors](#gmsl2)

### Rear panel

![ZED Box 2 rear panel](/_fern-files/_img/6d8f560f2500e011e9aee95bc5553071f9b992c6b89523fba4484858652fa0ce.webp)

* [2x WiFi antenna connectors](#wifi)
* [Sync + IO connector](#sync-and-io)
* [HDMI port](#hdmi)
* [2x USB 3.1 ports](#usb-31)
* [Micro USB OTG port](#micro-usb-20---otg)
* [Recovery button, power LED, and Reset button](#buttons-and-led)
* [12V fan connector](#fan)

## Power input

DC 10V to 32V - 80W max (55W typical)

| ![Power input connector](/_fern-files/_img/4b8112646f4d763a72409d9e93456ad5479ed9c75149dbe8299167d82d084244.webp) | ![Power input pinout](/_fern-files/_img/bd03cfe020aa1ed2c55317d97bb2a595c470891df735065ff8134677215f8fb1.webp) |
| :---------------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------------: |

### Pinout Power

* \#1 - DC IN (10V - 32V)
* \#2 - GND

Connector type: 2-pin screwable terminal block, TBP01R1W-508-02BE.

> **Warning**
>
> Please ensure that the input voltage is within the 10V - 32V range and that the polarity is correct before connecting it to the system. Out-of-range voltages may permanently damage the device.

> **Note**
>
> Size your power source for the maximum consumption of your whole setup: the Jetson module in its [power mode](/docs/products/embedded/zed-box-series/zed-box-2/power-modes), the GMSL2 cameras powered by the ZED Box 2, the USB devices, and the optional fan.

## Ethernet (LAN)

The ZED Box 2 comes with two Gigabit Ethernet LAN ports, `GbE 1` and `GbE 2`, supporting 10/100/1000 Base-T with RJ45 connectors.

The two ports are independent network interfaces, each with its own MAC address, so they get two different IP addresses:

| Port    | Controller                                      | Hardware PTP |
| ------- | ----------------------------------------------- | ------------ |
| `GbE 1` | Native Ethernet controller of the Jetson module | No           |
| `GbE 2` | Ethernet controller connected over PCIe         | Yes          |

Use `GbE 2` when you need hardware timestamping, for example to synchronize the system clocks of several devices with PTP (IEEE 1588), as described in the [multi-camera guide](/docs/development/zed-sdk/modules/camera/multi-camera#configure-the-ptp-service-to-synchronize-the-devices).

For additional information regarding the pinout, please refer to the RJ45 Ethernet standards for 10/100/1000 Base-T.

## CAN 1 and CAN 2

The `CAN 1` and `CAN 2` connectors are CAN bus interfaces used to communicate with external devices and sensors, such as motor controllers, battery management systems, or vehicle ECUs.

| ![CAN 1 connector](/_fern-files/_img/0d8d403762492eaddb6296d9816e0758b1e3ec14e5f436280e03b2ca2827e701.webp) | ![CAN 2 connector](/_fern-files/_img/348dc8a9591a7ac63f8354cf51a7c1ebc725a65a0c2a5ea7481fff69f194baa3.webp) | ![DB9 pinout](/_fern-files/_img/e45907bcef2178a2c356086fbd852da1f1893813c5395fabd6d53dea93135698.webp) |
| :--------------------------------------------------------------------------------------------: | :--------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------: |

Each connector is an A-DS 09 A/KG-T2S male DB9 that mates with a standard 9-pin D-Sub female connector.

### Pinout CAN

* \#2 - CAN_L
* \#3, #5 - Shield / GND
* \#6 - GND
* \#7 - CAN_H
* \#1, #4, #8, #9 - Not connected

The pinout follows the CiA 303-1 convention used by most CAN DB9 cables and adapters.

> **Note**
>
> The CAN transceivers are integrated in the ZED Box 2: connect `CAN_H` and `CAN_L` directly to the bus. As for any CAN bus, both ends of the bus must be terminated with a 120 Ω resistor.

### Use the CAN interfaces

The CAN ports are exposed by Linux as **SocketCAN** network interfaces. List them with:

```bash
ip -details link show type can
```

Install the `can-utils` package to send and receive frames from the command line:

```bash
sudo apt install can-utils
```

Configure the bit rate of an interface and bring it up. Replace `can0` with the name of the interface you want to use, and `500000` with the bit rate of your bus:

```bash
sudo ip link set can0 type can bitrate 500000
sudo ip link set can0 up
```

Dump the frames received on the bus:

```bash
candump can0
```

Send a frame with ID `0x123` and 4 data bytes:

```bash
cansend can0 123#DEADBEEF
```

Bring the interface down before changing its configuration:

```bash
sudo ip link set can0 down
```

In your applications, use the standard SocketCAN API, available in C/C++ through Linux sockets and in Python with the [python-can](https://python-can.readthedocs.io/) library.

## Sync and IO

The `SYNC + IO` connector is used as a frame-sync trigger input or output to synchronize image acquisition on multiple GMSL2 cameras connected to different ZED Box 2 units. It also provides a configurable general-purpose I/O pin.

| ![Sync + IO connector](/_fern-files/_img/bd7e0ffc0dde36280baefcfaf025e11f23284228e9e8ac724acbba73ed672c57.webp) | ![DB9 pinout](/_fern-files/_img/e45907bcef2178a2c356086fbd852da1f1893813c5395fabd6d53dea93135698.webp) |
| :---------------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------: |

The connector is an A-DS 09 A/KG-T2S male DB9 that mates with a standard 9-pin D-Sub female connector.

### Pinout Sync and IO

* \#1 - DESER_1_TRIGOUT (1.8V Max.)
* \#2 - DESER_2_TRIGOUT / TRIGIN (1.8V Max.)
* \#4 - GPIO_11_C (3.3V Max.)
* \#3, #5, #6, #7, #8, #9 - Shield / GND

> **Warning**
>
> * Pins #1 and #2 are **1.8V** signals. Wrong usage or out-of-range voltage may permanently damage the port and the Jetson module. Use a level shifter to connect 3.3V or 5V devices.
> * Pin #4 is a **3.3V** signal. Do not apply a higher voltage.
>
> Damage caused by electrical signals that do not conform to these specifications is not covered by the warranty.

### Synchronization modes

The behavior of the trigger pins depends on the synchronization mode, set with the `sync_mode` parameter of the ZED X daemon:

| Sync mode | Description                  | Pins behavior                                                                                        |
| --------- | ---------------------------- | ---------------------------------------------------------------------------------------------------- |
| 0         | Unsynchronized deserializers | `DESER_1_TRIGOUT` and `DESER_2_TRIGOUT` are not synchronized. Each deserializer operates on its own. |
| 1         | Internal synchronization     | `DESER_1_TRIGOUT` and `DESER_2_TRIGOUT` are synchronized. Both are outputs.                          |
| 2         | External trigger             | `DESER_1_TRIGOUT` is not connected and `DESER_2_TRIGIN` is a trigger input.                          |

The [Using GMSL](/docs/products/embedded/zed-box-series/zed-box-2/using-gmsl#camera-synchronization) guide explains how to select the mode and how to synchronize several devices.

### GPIO_11_C

Pin #4 is a general-purpose I/O (GPIO) pin that can be configured as an input or an output, for example to read a switch or to drive an external signal.

The pin is wired directly to a GPIO of the Jetson Orin NX module: its electrical characteristics are those of the Jetson module GPIOs, described in the NVIDIA Jetson Orin NX module datasheet, available in the [NVIDIA Jetson Download Center](https://developer.nvidia.com/embedded/downloads).

You can control it with the [libgpiod](https://libgpiod.readthedocs.io/) command-line tools and libraries, as described for the ZED Box Mini in [Using the GPIOs](/docs/products/embedded/zed-box-series/zed-box-mini/using-gpio). List the GPIO lines of the device with:

```bash
gpioinfo
```

When using the pin as an input, connect a pull-up or pull-down resistor to ensure reliable signal detection.

## FAN

The ZED Box 2 includes a dedicated 12V-compatible fan connector to support active cooling solutions. The optional fan kit is described in the [installation guide](/docs/products/embedded/zed-box-series/zed-box-2/installation#install-the-optional-fan).

| ![12V FAN connector](/_fern-files/_img/d945b0813d46141d74443593bce20549e6eb6de441858eb6e73a6c01926c544b.webp) | ![Fan pinout](/_fern-files/_img/aed7aa765761a37e0776b67939a4ab4eda34389802289de8379daf9206ca9265.webp) |
| :---------------------------------------------------------------------------------------------: | :----------------------------------------------------------------------------------------: |

### Pinout FAN

* \#1 - GND
* \#2 - FAN_12V

> **Warning**
>
> If you use a third-party fan, ensure that it operates at 12V and respect the polarity of the connector.

## GMSL2

The ZED Box 2 offers two separate **Quad FAKRA-Z** connectors for [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras, for a total of up to 8 cameras, 4 per connector. The cameras are connected through GMSL2 FAKRA 1-to-4 M-F cables.

The port numbers printed on the front panel are `1` to `4` for the first connector and `5` to `8` for the second connector.

The supported camera combinations are described in the [Using GMSL](/docs/products/embedded/zed-box-series/zed-box-2/using-gmsl#multi-camera-configurations) guide.

## HDMI

The ZED Box 2 features an HDMI 2.1 Type-A connector to 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/).

## USB 3.1

The two USB 3.1 Gen 1 Type-A connectors support up to 5Gbps data rate. They are 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 2 features a Micro USB 2.0 Type-B connector, labeled `OTG`, that can be used for OTG functions or paired with the Recovery button to flash a new image on the device (the [flashing guide](/docs/products/embedded/zed-box-series/zed-box-2/reset-update) will be available soon). In non-recovery mode, this port provides a serial output that can be used to access the device through a [serial console](/docs/products/embedded/zed-box-series/zed-box-2/serial-console).

For additional information regarding the pinout, please refer to the Micro USB 2.0 Type-B standard.

## Buttons and LED

* `RECO` - **Recovery button**: used with the Reset button to boot the device in Force Recovery mode, to flash a new image. The procedure will be described in the [flashing guide](/docs/products/embedded/zed-box-series/zed-box-2/reset-update), available soon.
* **Power LED**: on when the device is powered and running. It stays off in Force Recovery mode.
* `RST` - **Reset button**: restarts the device.

The buttons are recessed: use a pin to push them.

## WiFi

The ZED Box 2 integrates a **WiFi 6** Intel AX210 module, mounted on an M.2 Key-E 2230 socket. Screw the two provided 2.4/5GHz antennas onto the female SMA connectors marked `1` and `2` on the rear panel.