Nvidia Clara AGX User manual

Version 1.9 |September 2022
Clara AGX Developer Kit User Guide
Version 1.9

Clara AGX Developer Kit User Guide Version 1.9|ii
Document History
Document Version 1.9
Version
Date
Authors
Description of Change
1.1
July 7, 2021
Peter G.
Initial release
1.2
September 23, 2021
Peter G.
Add further Recovery mode instructions.
1.3
October 19, 2021
Peter G.
Add checklist and additional instructions.
1.4
November 8, 2021
Peter G.
Update to Holoscan, additional instructions.
1.5
March 16, 2022
Peter G.
Replace diagrams, add Compliance chapter, update links
1.5
June 16, 2022
Jin L.
Add sections Check Firmware Version and Manually
Update if Needed, Install the Clara Holoscan SDK, and
Known Issues, remove section Reinstalling Optional SDK
Packages
1.6
Jun 28, 2022
Jin L.
Add back section Reinstalling Optional SDK Packages,
changes to the Flashing steps, add two more Known
Issues
1.7
July 22, 2022
Jin L.
Update to instructions for reset mode in Flashing,
disclaimer the SDK is only tested in dGPU mode, add
Manage Permission on SSD
1.8
August 4, 2022
Jin L.
Add section Enabling the HDMI Input
1.9
September 7, 2022
Peter G.
Simplify Docker storage setup section, highlight logging
in with developer account in SDK Manager in Flashing

Clara AGX Developer Kit User Guide Version 1.9|iii
Table of Contents
Introduction....................................................................................................................... 1
Checklist for Setting up the Developer Kit........................................................................... 2
Hardware Setup................................................................................................................. 3
Requirements....................................................................................................................................... 3
Precautions .......................................................................................................................................... 3
System Overview ............................................................................................................... 4
Main Components ............................................................................................................................... 4
Tech Specs............................................................................................................................................ 4
I/O and external interfaces.................................................................................................................. 5
Getting Started .................................................................................................................. 8
Powering up the System...................................................................................................................... 8
Check Firmware Version and Manually Update if Needed.................................................................. 8
Flashing and Updating Clara AGX Developer Kit using SDK Manager ................................................. 9
Switching between iGPU and dGPU .................................................................................................. 10
Reinstalling Optional SDK Packages................................................................................................... 12
Enabling the HDMI Input ................................................................................................................... 12
Setting up SSD Storage....................................................................................................................... 14
Create a Partition........................................................................................................................... 14
Mount the Partition....................................................................................................................... 15
Install the Clara Holoscan SDK...........................................................................................................16
Known Issues ..................................................................................................................................... 17
Additional Resources ......................................................................................................................... 17
Compliance Information................................................................................................... 19
United States .....................................................................................................................................19
Canada ...............................................................................................................................................20
European Union................................................................................................................................. 20
Great Britain (England, Wales and Scotland)..................................................................................... 21
Japan..................................................................................................................................................21
Australia and New Zealand................................................................................................................ 24
China ..................................................................................................................................................24
South Korea ....................................................................................................................................... 26
Taiwan................................................................................................................................................ 28

Clara AGX Developer Kit User Guide Version 1.5|1
Introduction
This user guide provides instructions to flash, setup, and start using a Clara AGX Developer Kit.
Disclaimer: The Clara AGX Developer Kit is not an approved medical device and is not intended for
clinical use.

Checklist for Setting up the Developer Kit
Clara AGX Developer Kit User Guide Version 1.9|2
Checklist for Setting up the Developer Kit
After receiving the Clara AGX Developer Kit, ensure the following actions are taken before developing
on the kit. Each action is described in its corresponding section of this user guide.
•Read through the Hardware Setup requirements and precautions.
•Familiarize yourself with the System Overview: the main components and system I/O.
•Power up the system.
•If you have previously flashed the Clara AGX Developer Kit, check the firmware version and
manually update it if needed. If this is your first time flashing, return to this step after
completing all other items on this checklist.
•Flash and update the Clara AGX Developer Kit with Holopack using SDK Manager.
•Switch from iGPU to dGPU mode.
•Set up the 250GB SSD storage.
•Set up Docker and Docker storage.
•Install the Clara Holoscan SDK from Github.

Hardware Setup
Clara AGX Developer Kit User Guide Version 1.9|3
Hardware Setup
Requirements
•A Clara AGX Developer Kit
•A compatible power cable
oThe NVIDIA Clara AGX Developer Kit Developer Kit may not include a power cable
compatible with your local electrical requirements.
oA compatible cable should meet the following requirements:
▪Provides a certified local 3-prong AC power plug
▪Provides a C13 connector
▪Supports ratings of 100-120VAC/6A, 200-240VAC/3A, or higher with a
minimum wire thickness of 18AWG and insulation rating of 300V or higher.
•An Ubuntu 18.04 / 20.04 host system (for use during flashing)
•A standard USB-A to USB-C or USB-C to USB-C cable with data enabled (for use during
flashing)
•Connection to the Internet for the host system before and during flashing, and for the Clara
AGX Developer Kit during flashing
•A keyboard, mouse, and monitor with HDMI for the Clara AGX Developer Kit
Precautions
•Only connect and disconnect a PCIe card (e.g. miniSAS or dGPU) when the system is powered
down.
•Apply extra care when plugging and removing PCIe cards to avoid stress on the PCIe
connectors (wearing, bending, breaking).
•The rightmost USB connector is USB 2.0 (even if the color is blue). The other two USB
connectors are USB 3.0.

Clara AGX Developer Kit User Guide Version 1.5|4
System Overview
Main Components
The Clara AGX Developer Kit contains the following major components:
•AGX Xavier 32 GB Module
•RTX 6000 discrete GPU
•ConnectX-6 IC
•250GB Removeable SSD
Tech Specs
CPU
8-core Carmel ARM v8.2 64-bit CPU, 8MB L2 + 4MB L3
Memory
32GB 256-Bit LPDDR4x | 136.5GB/s

Clara AGX Developer Kit User Guide Version 1.9|5
GPU
RTX6000 | 24 GB GDDR6 | 672 GB/s | 4,608 CUDA cores | 576 Tensor Cores
Storage
250GB SSD
I/O
USB2.0 | (2x) USB3.0 | USB-C | HDMI In/Out | (4x) DisplayPort | 1/10/100 GbE
Expansion
PCIe x8 (single slot width) to Xavier | PCIe x8 (single slot width) to RTX6000
Power Supply
750W | 100-240V
Dimensions
227mm W x 149mm H x 332mm L
I/O and external interfaces
1) Power cable connection
2) Power switch

Clara AGX Developer Kit User Guide Version 1.9|6
3) PCIe slots for customer cards
4) dGPU outputs from RTX 6000, including four Display Ports and one mini HDMI port
a) Reference the GPU section below to determine which display output to use.
5) 100 GbE QSFP28 Ethernet connector to NVIDIA ConnectX-6
6) 10 GbE RJ45 Ethernet connector to NVIDIA ConnectX-6
a) The 10GbE connector only supports 10 GbE speeds.
7) 1 GbE RJ45 Ethernet connector to Xavier module
8) USB 3.0 ports (2x)
9) USB 2.0 port (1x)
10) HDMI out
a) Reference the GPU section below to determine which display output to use.
11) HDMI in: Connect to instruments that output HDMI to the platform
12) Debug USB-C port: Connect to the Linux host system for flashing and serial port connections.
13) x8 PCIe slot (x16 physical) for customer card, to Xavier Module

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14) x8 PCIe slot (x16 physical) for customer card, to RTX6000
a) Used for cards supporting GPU Direct RDMA data transfer to RTX6000 GPU
15) SD card slot
16) Recovery button
17) Reset button
18) Main secondary compartment fan connector (there is an additional system fan inside the chassis)
19) Auxiliary fan connector for card fans
20) Power button
To access ports 13-19, remove the left-hand side cover. The process is illustrated below. Unscrew the
two Phillips screws (21 and 22) that secure the cover at the back of the machine. Next, push and slide
the cover in the direction towards the back of the machine without lifting (step 1). It should slide
about 0.5 inch, or less than 1.5 cm. Finally, you should be able to lift the cover off once it has more
than one degree of freedom and can be easily lifted upwards (step 2).