> 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 Link Duo on Xavier NX This tutorial will help you set up the **[ZED Link Duo](https://www.stereolabs.com/store/products/zed-link-capture-card)** [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) capture card, and use the StereoLabs [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras with the NVIDIA® Jetson™ **Xavier NX** Developer Kit. ## Prerequisites Make sure that you have the following items before starting this guide: * 1x NVIDIA® Jetson™ Xavier NX Developer Kit. * 1x [ZED Link Duo](https://www.stereolabs.com/store/products/zed-link-capture-card) [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) capture card * 1x 1-to-4 [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Fakra Male to Female cable (included in the box) * 1x NVIDIA® power supply to power the Development Kit (included with the devkit) * 2x FPC Camera Cable 15-pin 1.0mm (not included) * 9V-19V (min 2W) power input (Barrel Jack 5.5 mm outer diameter, 2.5 mm inner diameter) to power the [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) capture card (not included) > **Note** > > The 15-pin CSI cable must not be mistaken for a DSI cable, where the active pin connection is on the same side. > On CSI, the 15 pins are on the opposite side when looking at the flat cable. The cable can be purchased at [UCTRONICS](https://www.uctronics.com/ribbon-fpc-15-pin-flat-cable-15cm-for-raspberry-pi-camera-p-1839l.html). > **Note** > > MIPI cables carry high-speed video signals, and longer cables can introduce noise or signal degradation. For optimal performance, use cables no longer than 12 cm. ![Xavier NX material](/_fern-img/57ee72326012524c3a72468fbdef5bba9b9cf8c65a97e39b2f1849cb8e04830b.webp) If you encounter any issues during the installation process, please refer to the [troubleshooting page](/docs/products/embedded/zed-link-capture-card/gmsl2/troubleshooting) or contact [support@stereolabs.com](mailto:support@stereolabs.com). ## Install the GMSL2 Capture Card Please make sure the DevKit and the capture card are not connected to a power source before beginning the installation process. ### Cabling the GMSL2 Capture Card Connect the CSI cables to the MIPI 15-pin ports of the capture card. Make sure the correct side is plugged in for each port. ![Xavier NX capture card cabling](/_fern-img/4d5e35e1e9de12469a109e4f634e910d805aac39640e39233d60ea0735244a11.webp) > **Warning** > > Inverting the side might damage the carrier board or the capture card. Both MIPI cables must be connected to have access to 2x ZED [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras on the capture card. ### Cabling the Carrier Board Connect the CSI cables to the carrier board 15-pin connectors. Make sure that `J9`/`CAM0` is connected to the centered MIPI port of the [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) capture card. `J1`/`CAM1` must be connected to the MIPI port close to the edge. Make sure to respect the side of the MIPI pins, according to the following picture: ![Xavier NX capture card cabling orientation](/_fern-img/4df8799f424cd70dd9b1c4b6bd50bbfd1524461fe4079f1adc3f9c98d62a3cb9.webp) Once connected, the setup should look like the following picture: ![Xavier NX cabled](/_fern-img/de8626b7b57e740b579077bc0848f04dc1c6718b7f2b8ec1dab9c302237101b2.webp) ### Connect the camera Connect the [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Fakra cable **female** end to your ZED X. When you hear a *click*, the cable is securely connected to the camera. ![ZED X with Fakra cable](/_fern-img/95694c2856777b637c70f659e0d336d588116951a7df4c1afb0648869ef4bcb6.webp) With the capture card still **powered off**, connect the **male** end of the cable to the capture card's [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) input. Again, a *click* informs you that the cable is **secured**. > **Note** > > Ideally, [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras should be plugged in before booting up. If this is not the case, you can restart the `zed_x_daemon` that will be installed by the driver in the next section. ![Xavier NX plug camera](/_fern-img/0c1c69d6f89f8902377d7174d5169ca670a20060cd69e880415033fc61210d4e.webp) Once the cables are connected, plug the power for the [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) capture card (9V-19V) so that cameras will be powered through the FAKRA cable (PoC). Then connect optional HDMI/Keyboard/Mouse to USB and the power. Wait for boot up. Now that the Developer Kit has been correctly set up, we can install the **associated software** and **drivers** for the ZED [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras. ## Setting up the software ### Install the ZED Link Driver After setting up your ZED Link [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) capture card, please follow this guide to [Install the ZED Link Driver](/docs/products/embedded/zed-link-capture-card/gmsl2/install-and-upgrade-the-drivers/). ### Install the ZED SDK After installing the ZED Link driver, please follow this guide to [Install the ZED SDK on NVIDIA® Jetson](/docs/development/zed-sdk/linux/work-with-nvidia-jetson/). ## Multi-camera configurations The ZED Link Duo provides 4 [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) ports organized in 2 Groups (**A**, **B**): * Group **A**: port **#0** and port **#1** * Group **B**: port **#2** and port **#3** ![ZED Link Duo connections](/_fern-img/96d8c17b874582c443fc6d2099234b4a57fec3ef621b283765c739c467aec72b.webp) Please refer to the table below to understand how different camera configurations provide different image capture behaviors, according to the number of cameras, their type, and the Group they are connected to: | Camera Type | Camera Model | Max number of cameras **per Group** | Max Resolution/FPS **per Group** | | ----------- | --------------------------- | ----------------------------------- | ---------------------------------------------------- | | Monocular | ZED X One GS ZED X One S | Up to 2 cameras | HD1200\@60fps HD1080\@60fps SVGA\@120fps | | Monocular | ZED X One 4K | 1 camera *only to port #0, #2* | 4K\@15fps QHDPLUS\@15fps HD1200\@60fps HD1080\@60fps | | Stereo | ZED X ZED X Mini ZED X Nano | 1 Camera | HD1200\@60fps HD1080\@60fps SVGA\@120fps | | Stereo | ZED X ZED X Mini ZED X Nano | Up to 2 Cameras | HD1200\@30fps HD1080\@30fps SVGA\@60fps | > **Note** > > Maximum resolution and framerate require no more than 2 cameras per 4-wire [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Fakra connector. --- 🎉 **Congratulations!** You have successfully set up your StereoLabs **[GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Capture Card** and started exploring its features. Now that you have the camera up and running, it is time to start experimenting and building your projects. Whether you are using the camera for robotics, computer vision, or something else entirely, the ZED [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) cameras are a powerful tool that can help you achieve your goals. **Happy coding!**