ADLINK Technology ROScube-X RQX-58 Series User manual

Leading EDGE COMPUTING
RQX-58x Series
ROScube-X High-Performance AI Embedded
Computer For Intelligent Robotic Development
RQX-58G/580, RQX-58G-E/580-E
User’s Manual
Manual Rev.: 1.0
Revision Date: March 2, 2022
Part No: 50M-00065-1000

ii Revision History
Leading EDGE COMPUTING
Revision History
Revision Release Date Description of Change(s)
1.0 2022-03-02 Initial release

Preface iii
RQX-58x Series
Preface
Copyright © 2022 ADLINK Technology Inc.
This document contains proprietary information protected by copy-
right. All rights are reserved. No part of this manual may be repro-
duced by any mechanical, electronic, or other means in any form
without prior written permission of the manufacturer.
Disclaimer
The information in this document is subject to change without prior
notice in order to improve reliability, design, and function and does
not represent a commitment on the part of the manufacturer.
In no event will the manufacturer be liable for direct, indirect, spe-
cial, incidental, or consequential damages arising out of the use or
inability to use the product or documentation, even if advised of
the possibility of such damages.
Environmental Responsibility
ADLINK is committed to fulfill its social responsi-
bility to global environmental preservation
through compliance with the European Union's
Restriction of Hazardous Substances (RoHS)
directive and Waste Electrical and Electronic
Equipment (WEEE) directive. Environmental pro-
tection is a top priority for ADLINK. We have
enforced measures to ensure that our products,
manufacturing processes, components, and raw
materials have as little impact on the environment as possible.
When products are at their end of life, our customers are encour-
aged to dispose of them in accordance with the product disposal
and/or recovery programs prescribed by their nation or company.
Battery Labels (for products with battery)
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iv Preface
Leading EDGE COMPUTING
California Proposition 65 Warning
WARNING: This product can expose you to chemicals
including acrylamide, arsenic, benzene, cadmium,
Tris(1,3-dichloro-2-propyl) phosphate (TDCPP), 1,4-
Dioxane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC,
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vinyl materials, which are known to the State of California to cause
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Trademarks
Product names mentioned herein are used for identification pur-
poses only and may be trademarks and/or registered trademarks
of their respective companies.
Conventions
Take note of the following conventions used throughout this
manual to make sure that users perform certain tasks and
instructions properly.
NOTE:
NOTE:
Additional information, aids, and tips that help users perform
tasks.
CAUTION:
Information to prevent minor physical injury, component dam-
age, data loss, and/or program corruption when trying to com-
plete a task.
ATTENTION: Informations destinées à prévenir les blessures
corporelles mineures, les dommages aux composants, la perte
de données et/ou la corruption de programme lors de l'exécu-
tion d'une tâche.
WARNING:
Information to prevent serious physical injury, component
damage, data loss, and/or program corruption when trying to
complete a specific task.
AVERTISSEMENT: Informations destinées à prévenir les bles-
sures corporelles graves, les dommages aux composants, la
perte de données et/ou la corruption de programme lors de
l'exécution d'une tâche spécifique.

Table of Contents v
RQX-58x Series
Table of Contents
Revision History...................................................................... ii
Preface.................................................................................... iii
List of Tables......................................................................... vii
List of Figures........................................................................ ix
1 Introduction ........................................................................ 1
1.1 Overview.............................................................................. 1
1.2 Features............................................................................... 1
1.3 Packing List ......................................................................... 2
1.4 Optional Accessories ........................................................... 2
2 Specifications..................................................................... 3
2.1 RQX-58G(-E), RQX-580(-E) ................................................ 3
2.2 RQX-58x Series Functional Block Diagram......................... 6
2.3 Display Options.................................................................... 7
2.4 Mechanical Dimensions....................................................... 8
3 System Layout.................................................................. 17
3.1 Front Panel ........................................................................ 17
3.2 Internal I/O Connectors...................................................... 28
4 Getting Started ................................................................. 33
4.1 Attach DC Power Connector.............................................. 33
4.2 Mounting the RQX-58x Series ........................................... 34
A Appendix: Power...............................................................37
A.1 Power Consumption Reference......................................... 37
Important Safety Instructions.............................................. 39

vi Table of Contents
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Consignes de Sécurité Importante...................................... 41
Getting Service...................................................................... 45

List of Tables vii
RQX-58x Series
List of Tables
Table 2-1: RQX-58G/58G-E, RQX-580/580-E Specifications...... 3
Table 2-2: Maximum Display Resolution ..................................... 7
Table 3-1: Front Panel I/O Legend ............................................ 17
Table 3-2: Side Panel I/O Legend ............................................. 18
Table 3-3: Multi-I/O DB-50 Connector Pin Definition ................. 20
Table 3-4: HDMI Connector Pin Definition................................. 21
Table 3-5: Ethernet Port Pin Definition ..................................... 22
Table 3-6: Active/Link LED Indicators........................................ 23
Table 3-7: Speed LED Indicators............................................... 23
Table 3-8: DC Power Input Pin Definition .................................. 23
Table 3-9: COM Port D-Sub 9-pin RS-232/485 Pin Definitions . 25
Table 3-10: microSD Card Slot Pin Definition.............................. 26
Table 3-11: USB 2.0 OTG Micro-A/B Pin Definition .................... 26
Table 3-12: mini FAKRA Connector Pin Definition ...................... 27
Table 3-13: RQX-58x Mainboard Connector Legend .................. 29
Table 3-14: Function Module Connector Legend ........................ 30
Table 3-15: USB 2.0 OTG Micro-A/B Pin Definition .................... 31
Table A-1: Power Consumption ................................................. 37

viii List of Tables
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List of Figures ix
RQX-58x Series
List of Figures
Figure 2-1: RQX-58x Series Functional Block Diagram..................... 6
Figure 2-2: RQX-58x Series Top View............................................... 8
Figure 2-3: RQX-58x Series “E” Top View ......................................... 9
Figure 2-4: RQX-580 Front and Rear View...................................... 10
Figure 2-5: RQX-58G Front and Rear View ..................................... 11
Figure 2-6: RQX-580-E Front and Rear View .................................. 12
Figure 2-7: RQX-58G-E Front and Rear View ................................. 13
Figure 2-8: RQX-58x Series Side View............................................ 14
Figure 2-9: RQX-58x Series Bottom View........................................ 15
Figure 3-1: Front Panel I/O .............................................................. 17
Figure 3-2: Front Panel I/O .............................................................. 18
Figure 3-3: Ethernet Port and LEDs................................................. 22
Figure 3-4: DC Power Input ............................................................. 23
Figure 3-5: COM Port D-Sub 9-pin .................................................. 25
Figure 3-6: microSD Card Slot ......................................................... 26
Figure 3-7: USB 2.0 OTG Micro-A/B Port ........................................ 26
Figure 3-8: mini FAKRA Connector.................................................. 27
Figure 3-9: RQX-58x Board Layout.................................................. 28
Figure 3-10: RQX-58x Mainboard Connectors................................... 29
Figure 3-11: Function Module Connectors......................................... 30
Figure 3-12: SW Debug Port.............................................................. 31

xListofFigures
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Introduction 1
RQX-58x Series
1 Introduction
1.1 Overview
ADLINK’s ROScube-X RQX-58x Series, a ROS 2 enabled robotic
controller powered by the NVIDIA® Jetson AGX Xavier™ module,
features an integrated NVIDIA Volta™ GPU, dual deep learning
accelerators and a wide variety of interfaces including GMSL2
camera connectors for advanced robotic system integration. The
RQX-58x Series supports the full complement of resources devel-
oped with the NVIDIA JetPack SDK and ADLINK’s Neuron SDK,
and is specifically suited for robotic applications demanding high-
performance AI computing capabilities with minimal power con-
sumption.
1.2 Features
XHigh-performance AI embedded computer for intelligent
robotic development
XExcellent performance per watt with power consumption as
low as 30 W
XRuggedized, secure connectivity with locking USB ports
XComprehensive I/O for connecting a wide range of devices
XTime synchronization with GMSL2 camera

2Introduction
Leading EDGE COMPUTING
1.3 Packing List
Before unpacking, check the shipping carton for any damage. If
the shipping carton and/or contents are damaged, inform your
dealer immediately. Retain the shipping carton and packing mate-
rials for inspection. Obtain authorization from your dealer before
returning any product to ADLINK. Ensure that the following items
are included in the package.
XRQX-58x Series Fanless Embedded Computer
XAccessories
ZPower cable (lockable Molex connector to Phoenix ter-
minal block connector)
ZWall-mount brackets
ZScrew pack
ZPower on/off extension cable
1.4 Optional Accessories
XAC/DC Adapter
Z160W (P/N: 31-62120-0010)
Z220W (P/N: 31-62149-0000)
XWi-Fi Module: Intel® Wireless-AC9260 M.2 2230, Dual-
Band 2x2 Wi-Fi + Bluetooth 5 kit (P/N: 91-95266-0010)
XLTE Module: EG25-G LTE Module Cat4 LTE/WCDMA/
GSM/GPS (P/N: 91-xxxxx-xxxx)

Specifications 3
RQX-58x Series
2 Specifications
2.1 RQX-58G(-E), RQX-580(-E)
Model Name RQX-58G/58G-E RQX-580/580-E
System Core
NVIDIA Module NVIDIA® Jetson AGX Xavier™
CPU 8-core Carmel ARM v8.2 64-bit CPU, 8MB L2 + 4MB L3
Maximum Operating Frequency: 2.26GHz
GPU 512-core Volta GPU with 64 Tensor Cores 11 TFLOPS (FP16), 22 TOPS (INT8)
Maximum Operating Frequency: 1.37GHz
Memory 32GB 256-Bit LPDDR4x
eMMC 32GB eMMC 5.1
Front Panel I/O Interfaces
Display 1x HDMI 2.0a
Ethernet 2x GbE (IEEE 802.1AS, IEEE 1588 v2)
USB 3.0 4x USB Type A
2x USB Type A with lockable connector
Serial Port COM1: RS-232/485; COM2: RS-232
USB OTG 1x USB 2.0 OTG Micro-A/B port for updating OS environment
microSD card slot 1x microSD card
Side Panel I/O Interfaces
DB-50 Connector UART, SPI, CAN, I2C, PWM, 20-bit GPIO
Internal I/O Connectors
M.2 Expansion 1x Socket 2, Key M 2280 for Storage (NVMe SSD)
1x Socket 1, Key A+E 1630/2230 for Wi-Fi
Mini PCIe 1x Mini PCIe socket for 4G/LTE or GPS module
USIM 1x USIM socket
RTC Battery CR2450W Li 3.0V 550mAh
Table 2-1: RQX-58G/58G-E, RQX-580/580-E Specifications

4 Specifications
Leading EDGE COMPUTING
LED Indicators
User Defined
6x user defined LEDs
Green: U1,U2,U3, U6
Amber: U5
Yellow: U4
Camera Interfaces
FAKRA connectors
2x mini FAKRA quad-port conn.
(for GMSL2 camera,
driver supports LI-AR0233-
GMSL2 camera)
N/A
Expansion Box (“E” models only)
Dimensions 132(W) x 210(D) x 80(H) mm
PCIe slot 1x PCIe Gen3 x8 (x16 slot), 1x PCIe Gen3 x4
Power Requirements
DC Power Input 9-36V (±5% tolerance, reverse polarity protection)
AC/DC Power
Adapter
160W/220W, 90-264VAC to 24 VDC
power cable: lockable Molex connector to Phoenix terminal
block connector
Power Switch 1x power button (supports auto power-on)
1x power on/off extension cable for robotics
Recovery and
Reset 1x recovery button 1x hardware reset button
Mechanical
Dimensions 190(W) x 210(D) x 80(H) mm (7.48 x 8.27 x 3.149 inches) “-E” models: 322(W) x 210(D) x 80(H) mm
(12.68 x 8.27 x 3.149 inches)
Mounting Wall mount kit
Model Name RQX-58G/58G-E RQX-580/580-E
Table 2-1: RQX-58G/58G-E, RQX-580/580-E Specifications

Specifications 5
RQX-58x Series
Environmental
Operating
Temperature 0°C to 50°C at full CPU clock speed
-20°C to 70°C (-4 ℉to 158 ℉) at reduced CPU clock speed
Operating
Humidity Approx. 95% @40°C (non-condensing)
Storage
Temperature -40°C to 85°C
Vibration IEC 60068-2-64: Operating 3Grms, 5-500 Hz, 3 axes
Shock MIL-STD-202G Method 213B, Table 213-I condition A
Operating: 30G, half sine 11ms duration. (w/o expansion)
EMI CE & FCC class A (EN61000-6-4/-6-2)
EMS
• 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-80MHz)
• IEC 61000-4-8 (power-frequency magnetic fields)
• IEC 61000-4-11 (voltage DIPs & voltage interruptions)
Safety EN 62368-1 (LVD)
Software
SDK ADLINK Neuron SDK, NVIDIA Jetson SDK
Environment Ubuntu 18.04 L4T
Operating System
Environment Ubuntu 18.04 L4T
Middleware ROS, ROS 2
Model Name RQX-58G/58G-E RQX-580/580-E
Table 2-1: RQX-58G/58G-E, RQX-580/580-E Specifications

6 Specifications
Leading EDGE COMPUTING
2.2 RQX-58x Series Functional Block Diagram
Figure 2-1: RQX-58x Series Functional Block Diagram
Jetson AGX Xavier
LPDDR4
16GB
Xavier SoC
eMMC5.1
32GB
Thermal
Sensor
VDD_IN
PMIC
& Regs
RGMII_TXC/RXC
RST/INT
SDIO
RJ45+USB3.0*2
OVP/UVP 12V
DC JACK
9-36V DC Input
UPHY_TX0_P/N
RJ45+USB3.0*2
HDMI_DP2_TXx
DP2_AUX_CH
DP2_HPD
HDMI
TYPEA
HDMI_CEC
PCIE switch
Ethernet PHY
UPHY_RX0_P/N
PEX_CLK1_P/N
GBE controller
USB2_P/N
UPHY_TX11_P/N
UPHY_RX11_P/N
USB3.0
HUB
Mini PCIE Slot
M.2 E Key Slot
UPHY_RX1_P/N
UPHY_TX1_P/N
USB0_P/N
USB 2.0 USB Micro AB
Power Button
Reset Button
Recovery Button
POWER_BTN#
RESET_IN#
FORCE_RECOV#
UPHY_RX6_P/N
UPHY_TX6_P/N
USB1_P/N
USB3.1 Gen 2 Type A
Camera Slot
USB3_P/N
CSI [7:0]
MCLK
PCIe Gen 4 x16 Slot
PCIe Gen 3 x4 Slot
USB2.0
HUB
M.2 B Key Slot
RGMII_TD/RD[3:0]
UART1_TX/RX
DB-50 I2C_SCL
I2C_SDA
GPIO Expander
UPHY_RX[9:8]_P/N
PEX_CLK4_P/N
UPHY_TX[9:8]_P/N
UPHY_TX7_P/N
PEX_CLK3_P/N
UPHY_RX7_P/N PCIE to USB3.0 HUB USB3.0 Type-A
USIM SlotSwitch
UPHY_RX[5:2]_P/N
UPHY_TX[5:2]_P/N
PEX_CLK0_P/N
NVHS0_TX[7:0]_P/N
NVHS0_SLVS_RX[7:0]_P/N
PEX_CLK5_P/N
UART1_CTS/RTS
I2C/SPI/CAN
CODEC
SW debug
AUDIO_MCLK
I2C4_CLK/DAT
I2S1_CLK
UART3_TX
UART3_RX
71-02514-03Z0
71-05734-00Z0
74-08035-0FR0
71-00608-00Z0
71-00210-03Z0
71-07340-01Z0
61-L2641-0750
61-L1001-0750
61-L1A01-0520
74-02567-09Z0
20-22020-0500
21-G2040-0090
21-G2040-0090
61-5160C-1200
71-09535-01Z0 + 71-09535-01Z0
71-05658-00Z0
74-09670-26Z0
MPTIP
S
21-51510-0640 USB to UART
71-04232-00L0
I/O board
Pin header
Pin header
61-65333-2050
61-65333-2050
10 pin headers
21-62310-2050
61-L1521-1640
BP board
PCIe Gen3
re-driver
PCIe Gen4
re-driver x4
Micro SD
I/O board
CSI to GMSL2
I/O board
MUX
RS232/485
Transceiver
RS232
Transceiver
74-00339-0FR0
74-03253-0FR0
RSVD
I/O board

Specifications 7
RQX-58x Series
2.3 Display Options
With computing and graphic performance enhancement from its
8th and 9th Generation Intel® processors, the RQX-58x Series
controller can support three independent displays with the follow-
ing configuration.
Table 2-2: Maximum Display Resolution
Port Resolution
HDMI 2.0a/b 4096x2160@60Hz

8 Specifications
Leading EDGE COMPUTING
2.4 Mechanical Dimensions
All dimensions in mm
Figure 2-2: RQX-58x Series Top View
210
87.50
134
186
175
20.50
5.50

Specifications 9
RQX-58x Series
Figure 2-3: RQX-58x Series “E” Top View
208.90
322

10 Specifications
Leading EDGE COMPUTING
Figure 2-4: RQX-580 Front and Rear View
190
80
35 25