> 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 Quad on AGX Orin This tutorial will help you set up the **[ZED Link Quad](https://www.stereolabs.com/store/products/zed-link-capture-card-quad)** [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™ **AGX Orin** Developer Kit. ## Prerequisites Make sure that you have the following items before starting this guide: * 1x NVIDIA® Jetson™ AGX Orin Developer Kit. * 1x **[ZED Link Quad](https://www.stereolabs.com/store/products/zed-link-capture-card-quad)** [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) capture card * 2x 1-to-4 [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Fakra Male to Female cables (included in the box) * 1x NVIDIA® power supply to power the Development Kit (included with the devkit) * 9V-19V (min 6W) 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) * \[Optional] **[Enclosure for AGX Orin Developer Kit](https://store.stereolabs.com/products/enclosure-for-orin-agx-devkit)** ![ZED Link Quad on AGX Orin materials](/_fern-img/f12fb66f785156fe023439b5be6edcb0cdb0b960d9c66a40d0c492a748c7cc48.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. Plug the capture card into the ‘Camera connector’ slot and secure it using the three provided screws: ![ZED Link Quad camera connector](/_fern-img/b649494e1886986be9211b89135a60021ea6bbf92df964291fe537e3f0d50aad.webp) > **Warning** > > It's important to **use the provided spacers and screws** to ensure a secure fit and avoid damaging the ZED Link device and the NVIDIA® Jetson™ AGX Developer Kit carrier board. StereoLabs is not responsible for any damage caused by improper installation and will not provide support for issues arising from incorrect installation procedures. ![ZED Link Quad screws installation](/_fern-img/7f41d340855e08b3d51f9ae9ebb06c8dd5aea2b8733011945a2423728d8a5955.webp) Connect the power adapter cable to the white **J10** connector. ![ZED Link Quad power connection](/_fern-img/6b4dcc457b7364cdde195deec7c5509891d0fa4b74a8a67f0bbe1080fd74acfd.webp) ### \[Optional] AGX Orin Developer Kit Enclosure If you are using an **AGX Orin Developer Kit**, we recommend you use the [Enclosure for the AGX Orin Developer Kit](https://store.stereolabs.com/products/enclosure-for-orin-agx-devkit) available for purchase on the StereoLabs store, to **securely integrate** our [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Capture Card while keeping the electronics safe. It also allows you to mount the Dev Kit on any surface using **VESA 75x75**, and gives the possibility to add **WiFi antennas** to boost your AGX Orin wireless transmissions. ![AGX Orin with enclosure](/_fern-img/4098c22836b4d970ae6eb8d41a3ad50356a9adf4ea4b3fcaa42e36dfd41c4a22.webp) #### Installing the AGX Orin Enclosure Remove the 4 screws under the AGX Orin, and remove the factory enclosure. With the capture card **already installed** (as shown above) on the Dev Kit, place the enclosure and screw it in as shown below: ![AGX Orin enclosure installation](/_fern-img/60733fee2506f072532c98b5ceabdd716ead1135aa4f1efdb63ed12dd1d92aae.webp) ### Connect the camera Connect one of the 8 wires from the **female** end of the two [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) 1-to-4 Fakra cables to your [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) camera. When you hear a *click*, the cable is securely connected to the camera. ![ZED X with Fakra cable](/_fern-img/95694c2856777b637c70f659e0d336d588116951a7df4c1afb0648869ef4bcb6.webp) > **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. 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). ![Power adapter connection](/_fern-img/d4a08d04f4ec846445b73534a2924442fa109e158e4b084fefc3d8bcc9413b39.webp) 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 Quad provides 8 [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) ports organized in 6 Groups (**A**, **B**, **C**, **D**, **E**, **F**): * Group **A**: port **#0** * Group **B**: port **#1** * Group **C**: port **#2** * Group **D**: port **#3** * Group **E**: ports **#4** and **#5** * Group **F**: ports **#6** and **#7** ![ZED Link Quad connections](/_fern-img/ebebf9332154278089822ca11408263692d5d0ce5d5ac9370c6f501f9986fdef.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, #4, #6* | 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 | | Mixed | ZED X One GS/ZED X One S + ZED X/ZED X Mini/ZED X Nano | 1 ZED X One GS/S + 1 ZED X/Mini/Nano | HD1200\@60fps HD1080\@60fps SVGA\@120fps | > **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. ### Enable full onboard synchronization The ZED Link Quad card is essentially a composition of two ZED Link Duo cards. By default, the two [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) deserializers on the card are not synchronized together, causing the cameras connected to one 4-wire [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Fakra connector to have different capture timestamps from the cameras connected to the second 4-wire [GMSL2](/docs/products/embedded/zed-link-capture-card/gmsl2#what-is-gmsl2) Fakra connector. To enable full synchronization, you must follow this procedure: * Open a terminal (`Ctrl+Alt+T`) * Edit the zed_x_daemon service file: ```bash sudo nano /etc/systemd/system/zed_x_daemon.service ``` * Search for `sync_mode=` and change it to `sync_mode=1` * Save the file and exit (`Ctrl+X`, `Y`, `Enter`) * Instruct `systemd` to reload all service files and update its internal configuration ```bash sudo systemctl daemon-reload ``` * Connect the **pin #13** to the **pin #16** of the synchronization connector. *Unfortunately, the pins are not aligned, so you cannot use a jumper but you can use a small wire to connect the two pins together*. ![ZED Link Quad J17 sync connector](/_fern-img/5b1e4ac009380fc5c6b4ce714e0bb58c6c7105f91f94490e522d6635ae891d7d.webp) > **Note** > > It's not required to connect the **GND** pins together as they are already connected internally on the board. * Restart the zed_x_daemon service ```bash sudo systemctl restart zed_x_daemon.service ``` Now, all the cameras connected to the ZED Link Quad will have synchronized frame acquisition with 15µs precision. > **Note** > > Although frames are hardware-synchronized with 15µs precision, software timestamps are assigned upon driver receipt and may exhibit slight millisecond-level jitter. Frames are considered synchronized if the timestamp difference is less than one frame period (`1000/FPS` ms). --- 🎉 **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!**