# ESK-Edge Perception Development Kit

ADLINK Robotic Controller based on NVIDIA® Jetson™ AGX and Tier IV’s C1 GMSL2 cam based on ISX021 sensor

![Exterior view of a black RDS cube electronic device with visible ports and connectors, accompanied by a NVIDIA logo and camera module (no readable text or symbols on the device itself)](.rqx-58g-esk-datasheet-20230307/599391486ddd213e2ba1513bc22ac0a932a4048028f05d44f3ce82f216c4a898.jpg)

# Introduction

ADLINK has partnered with Tier IV, an open source autonomous driving provider, to offer the ESK-Edge Perception Development Kit, an integrated turn-key solutions for autonomous driving applications.

The DevKit combines ADLINK RQX-58G robotic controller with Tier IV Automotive HDR Camera C1, while featuring camera perception functionality provided by Autoware\*, and is specifically suited for autonomous driving applications requiring high-AI computing workloads with minimal power consumption.

Utilizing Tier IV’s C1 camera, this Edge Perception Development kit provides users with a powerful GMSL2 controller package, which allows users to start building R&D environments with less time and effort, significantly reducing costs and shortening time-tomarket.

# Features

# ADLINK RQX-58G:

• Powerful AI computing for intelligent robotics development
• Excellent performance per watt with power consumption as low as 30W
• Ruggedized, secure connectivity with locking USB ports
• Comprehensive I/O for connecting to a wide range of devices
Time synchronization with GMSL2 camera

# Tier IV C1 Camera:

• 2.5MP resolution, 120dB HDR, LED flicker mitigation
• Integrated ISP, on-board lens distortion correction
• GMSL2 direct connection, HW/SW triggering
• IP69K, -40 to 85°C operation, FuSa support up to ASIL B
• Autoware compatible, with Linux kernel driver and ROS1/2 support

![The image displays a standard black-and-white QR code. Centered within the code is a white square logo featuring a red, stylized triangular shape resembling an arrow or pyramid. Below the graphic, the text 'ACER.COM' is printed in black.](.rqx-58g-esk-datasheet-20230307/d24c26d5b94d02e31e0aeaf377f5141ed1ae20995a949135fbc4ea268cea11e7.jpg)
Product Page

# Software Support

• Ubuntu 18.04 L4T
• Neuron SDK, Neuron IDE, Neuron Library
• NVIDIA Jetson SDK
• C1 camera driver

# Development Kit Content

• RQX-58G ·RQX-58G
• Tier IV C1 camera TierIVC1camera
• Mini FAKRA jack to FAKRA jack cable or FAKRA jack to · Mini FAKRA jack to FAKRA jack cable or FAKRA jack to FAKRA plug

# Ordering Information

• RQX-58G + C1 camera + FAKRA cable

Embedded Robotic Controller Powered by NVIDIA® Jetson AGX Xavier™ with GMSL2 C1 camera / mini FAKRA jack to FAKRA jack cable or FAKRA jack to FAKRA plug

# Optional Accessories

• Wireless Module
Intel® Wireless-AC 9260 M.2 2230, Dual-Band 2x2 Wi-Fi + Bluetooth+ 5 kit (P/N: 91-95266-0010)
• FAKRA cable for GMSL2 camera
• AC/DC Power Adapter

220W AC/DC Power Adapter (P/N: 31-62149-0000)

160W AC/DC Power Adapter (P/N: 31-62120-0010)

# Specifications

ADLINK RQX-58G

<table><tr><td rowspan="6">System Core</td><td>Processor</td><td>NVIDIA $^{\textregistered}$  Jetson AGX Xavier $^{\text{TM}}$ </td></tr><tr><td>CPU</td><td>Carmel ARMv8.2 2.26GHz</td></tr><tr><td>GPU</td><td>512-core 1.37GHz</td></tr><tr><td>Memory</td><td>32GB on module</td></tr><tr><td>eMMC</td><td>32GB on module</td></tr><tr><td>Display</td><td>1x HDMI 2.0a</td></tr><tr><td rowspan="4">Front Panel I/O Interface</td><td>Ethernet</td><td>2x GbE</td></tr><tr><td>USB 3.0</td><td>4x USB Type A2x USB Type A with lockable connector</td></tr><tr><td>Serial Port</td><td>COM1: RS-232/485; COM2: RS-232</td></tr><tr><td>OTG</td><td>1x OTG port for flashing OS image</td></tr><tr><td rowspan="2">Side Panel I/O Interface</td><td>DB-50 connector</td><td>UART, SPI, CANbus x1, I2C, PWM, 20-bit GPIO</td></tr><tr><td>Audio IN/OUT</td><td>1x audio input/output</td></tr><tr><td rowspan="4">Internal I/O connectors</td><td>M.2 Extension</td><td>1x Socket 2, Key M 2280 for Storage (need NVMe SSD)1x Socket 1, Key E 1630/2230 for Wifi</td></tr><tr><td>Mini PCIe</td><td>1x Mini PCIe socket for LTE, GPS</td></tr><tr><td>USIM</td><td>1x USIM socket</td></tr><tr><td>RTC</td><td>3V 550mAh</td></tr><tr><td>Sensor</td><td>9-axis sensor</td><td>Time sync with GMSL2 camera</td></tr><tr><td>External Storage</td><td>SD Card</td><td>1x microSD card slot</td></tr></table>

Specifications

<table><tr><td rowspan="2">LED indicator</td><td>User Defined</td><td>5x user-defined LEDsGreen: U1,U2,U3Amber: U5Yellow: U4</td></tr><tr><td>Power LED</td><td>1x Power on LED</td></tr><tr><td>Camera Interfaces</td><td>FAKRA connectors</td><td>2x mini FAKRA connectors, Quad port(for GMSL2 camera, driver support AR0233-GMSL2 and Sony ISX021 cameras)</td></tr><tr><td rowspan="4">Power Requirements</td><td>DC Power Input</td><td>9-36V (±5% tolerance, reverse polarity protection)</td></tr><tr><td>AC/DC Power Adapter</td><td>160W/220W AC/DCpower adapter with Molex lockable connector to Phoenix terminal block connector (see optional accessory)</td></tr><tr><td>Power Switch</td><td>1x power button</td></tr><tr><td>Recovery and Reset</td><td>1x Recovery1x Hardware Reset button</td></tr><tr><td rowspan="3">Mechanical</td><td>Dimensions</td><td>190(W) x 210(D) x 80(H) mm (7.48 x 8.27 x 3.149 inch)With Expansion: 322(W) x 210(D) x 80(H) mm (12.68 x 8.27 x 3.149 inch)</td></tr><tr><td>Mounting</td><td>Wall mount kit</td></tr><tr><td>Weight</td><td>RQX-580: 3330g (7.34lb); RQX-58G: 3385g(7.46lb)RQX-580-E:4415g (9.74lb); RQX-58G-E: 4470g (9.85lb)</td></tr><tr><td rowspan="8">Environmental</td><td>Operating Temperature</td><td>0 to 50°C at full CPU frequency with 0.6m/s airflow-20 to 70°C (-4°F to 158°F with 1.4GHz CPU) with 0.6m/s airflow</td></tr><tr><td>Operating Humidity</td><td>Approx. 95% @40°C (non-condensing)</td></tr><tr><td>Storage Temperature</td><td>-40 to 85°C</td></tr><tr><td>Vibration</td><td>IEC 60068-2-64: Operating 3Grms, 5-500 Hz, 3 axes</td></tr><tr><td>Shock</td><td>MIL-STD-202G Method 213B, Table 213-I condition AOperating: 30G, half sine 11ms duration. (w/o expansion)</td></tr><tr><td>EMI</td><td>CE &amp; FCC class A (EN61000-6-4/-6-2)</td></tr><tr><td>EMS</td><td>IEC 61000-4-2 (ESD, contact: ±4kV, air: ±8kV w/ expansion)IEC 61000-4-3 (RS, 10V/m from 80-1000MHz, 3V/m from 1400-2000MHz, 1V/m from 2000-2700MHz, 1kHz sine wave, 80% AM)IEC 61000-4-4 (EFT, ±2kV at 5KHz on power port, ±1kV at 5KHz on signal port)IEC 61000-4-5 (Surge, ±2kV line to earth CM on power port, ±1kV line to earth CM on signal port)IEC 61000-4-6 (CS, 10Vrms with 1kHz sine wave, 80% AM from 0.15MHz-80MIEC 61000-4-8 (power-frequency magnetic fields)IEC 61000-4-11 (voltage DIPs &amp; voltage interruptions)</td></tr><tr><td>Safety</td><td>LVD</td></tr><tr><td rowspan="3">Software</td><td>SDK</td><td>ADLINK Neuron SDK, NVIDIA Jetson SDK</td></tr><tr><td>Environment</td><td>Ubuntu 18.04 L4T</td></tr><tr><td>Middleware</td><td>ROS/ROS 2, Neuron Library</td></tr></table>

# Specifications

Tier IV C1 camera

<table><tr><td>Image Sensor</td><td>Sony ISX021</td></tr><tr><td>ISP</td><td>On-chip</td></tr><tr><td>Serializer</td><td>Maxim MAX9295A</td></tr><tr><td>Resolution</td><td>1920 x 1280 (2.5 MPix)</td></tr><tr><td>Shutter type</td><td>Rolling</td></tr><tr><td>Dynamic Range (dB)</td><td>120 (Max.)</td></tr><tr><td>Frame rate (fps)</td><td>Up to 30</td></tr><tr><td>LED Flicker mitigation</td><td>Yes</td></tr><tr><td>Lens distortion correction</td><td>Yes (ISP)</td></tr><tr><td>Output Image format</td><td>YUV422</td></tr><tr><td>Power consumption (W)</td><td>1.7 (at 30 fps, DC 9-12V Input)</td></tr><tr><td>Output interface</td><td>GMSL2 (up to 6 Gbps, power over coax)</td></tr><tr><td>Synchronization</td><td>HW/SW triggering over GMSL2</td></tr><tr><td>Ingress protection</td><td>IP69K(water/ dust proof)</td></tr><tr><td>Operating Temperature (°C)</td><td>- 40 to 85</td></tr><tr><td>FuSa support</td><td>Up to ASIL B</td></tr><tr><td>Driver support</td><td>Linux kernel driver, ROS 1/2 driver</td></tr><tr><td>Lens FoV options (HFoV)</td><td>46, 85, 120</td></tr></table>

# Ordering Information

DevKit Options

<table><tr><td>DevKit part number</td><td>Controller</td><td>C1 camera number</td><td>Mini FAKRA to 4X FAKRA cable</td><td>Mini FAKRA to 4X FAKRA cable picture</td><td>Purpose</td></tr><tr><td>93-45R00-0A00</td><td>RQX-58G</td><td>1 pc HFOV 851 pc HFOV 120</td><td>3 meters x 1 pc</td><td>&lt;img src="images/d03baf88caa1439a2448d702434130fe6c964b6c4c159e28c2cccbafa75f39ba.jpg"/&gt;</td><td>This cable set is for quick start purpose and can connect to C1 camera directly. If users need to extend the cable length, we also provide FAKRA plug to FAKRA jack extension cable.</td></tr><tr><td>93-45R00-0C00</td><td>RQX-58G</td><td>2 pcs HFOV 852 pcs HFOV 120</td><td>3 meters x 2 pcs</td><td>&lt;img src="images/68dc653116bf94c022180b13293803c146f029cfdec0c3faeccfa0314d7d6718.jpg"/&gt;</td><td>This cable set is for quick start purpose and can connect to C1 camera directly. If users need to extend the cable length, we also provide FAKRA plug to FAKRA jack extension cable.</td></tr><tr><td>93-45R00-0B00</td><td>RQX-58G</td><td>1 pc HFOV 851 pc HFOV 120</td><td>0.5 meters x 1 pc</td><td>&lt;img src="images/304426f5c75c1f6ab179ca6718b3f9b58701b7c36ef4b3d90e5a89cf9f508bbc.jpg"/&gt;</td><td>This cable set cannot connect to C1 camera directly. Users have to purchase customized extension FAKRA cable with different lengths based on the needs - 1M, 3M, 6M, 9M, and 12M.</td></tr><tr><td>93-45R00-0D00</td><td>RQX-58G</td><td>2 pcs HFOV 852 pcs HFOV 120</td><td>0.5 meters x 2 pcs</td><td>&lt;img src="images/293a1b4be1c33219d82e4a67dc44027269a67b2e58f7e67583348c95802defef.jpg"/&gt;</td><td>This cable set cannot connect to C1 camera directly. Users have to purchase customized extension FAKRA cable with different lengths based on the needs - 1M, 3M, 6M, 9M, and 12M.</td></tr></table>

Optional Accessories

<table><tr><td>Camera part number</td><td>Camera sensor</td><td>Serializer</td><td>HFOV</td><td>Output image format</td><td>Resolution</td><td>Frame Sync</td><td>ISP</td><td>LFM (LED Flicker Mitigation)</td><td>HDR (Dynamic Range) (dB)</td></tr><tr><td>TBD</td><td>ISX021</td><td>Maxim MAX9295A</td><td>46</td><td>YUV422</td><td>1920 x 1280 (2.5 MPix)</td><td>Yes</td><td>Yes</td><td>Yes</td><td>120 (Max)</td></tr><tr><td>TBD</td><td>ISX021</td><td>Maxim MAX9295A</td><td>85</td><td>YUV422</td><td>1920 x 1280 (2.5 MPix)</td><td>Yes</td><td>Yes</td><td>Yes</td><td>120 (Max)</td></tr><tr><td>TBD</td><td>ISX021</td><td>Maxim MAX9295A</td><td>120</td><td>YUV422</td><td>1920 x 1280 (2.5 MPix)</td><td>Yes</td><td>Yes</td><td>Yes</td><td>120 (Max)</td></tr></table>

<table><tr><td>Cable part number</td><td>Length (meters)</td><td>Type</td><td>Description</td></tr><tr><td>30-60185-0010-A0</td><td>1 M</td><td rowspan="2">&lt;img src="images/f11516e6d58c90d0443f30ccc80ec7d189fb0efc57ac518683c73df0dae5f83a.jpg"/&gt;</td><td rowspan="2">Mini Fakra B Jack (TE Rev.) 180° Z code to Fakra Jack 180° Z code cable</td></tr><tr><td>30-60185-1010-A0</td><td>3 M</td></tr><tr><td>30-60189-0000-A0</td><td>0.5 M</td><td>&lt;img src="images/4c53ae7d100a9d66c8203d871e0e3d35678972262bb027f3bba73546ad98e563.jpg"/&gt;</td><td>Mini Fakra B Jack (TE Rev.) 180° Z code to Fakra plug*4 180° Z code cable</td></tr><tr><td>30-60217-0000-A0</td><td>1 M</td><td rowspan="5">&lt;img src="images/5a87764162087f2ac7ef76aefdd9f811a42e84c15ebe41a1ad789e9087045965.jpg"/&gt;</td><td rowspan="5">Fakra Jack 180° Z code to Fakra Jack 180° Z code cable, IP69K</td></tr><tr><td>30-60217-1000-A0</td><td>3 M</td></tr><tr><td>30-60217-2000-A0</td><td>6 M</td></tr><tr><td>30-60217-3000-A0</td><td>9 M</td></tr><tr><td>30-60217-4000-A0</td><td>12 M</td></tr><tr><td>30-60218-0000-A0</td><td>1 M</td><td rowspan="5">&lt;img src="images/993aa764dbcbcf58a78753083eafd224d2caef1f985edd3b928c050dbd49b61e.jpg"/&gt;</td><td rowspan="5">Fakra Plug 180° Z code to Fakra Jack 180° Z code cable, IP69K</td></tr><tr><td>30-60218-1000-A0</td><td>3 M</td></tr><tr><td>30-60218-2000-A0</td><td>6 M</td></tr><tr><td>30-60218-3000-A0</td><td>9 M</td></tr><tr><td>30-60218-4000-A0</td><td>12 M</td></tr></table>
[🔗 Link to the original document](.rqx-58g-esk-datasheet-20230307/rqx-58g-esk-datasheet-20230307.pdf)