# PMD ToF not detected on VOXL2

Source: https://forum.modalai.com/topic/4952/pmd-tof-not-detected-on-voxl2
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2025-12-25 12:34:07 UTC by Sarika Sharma
Replies: 1 · Views: 361

## Sarika Sharma · 2025-12-25 12:34:07 UTC

Hello ModalAI Team,

I am working with VOXL2 / VOXL2 Mini and PMD ToF V2 (M0169), and I am facing an issue where the PMD ToF camera is not detected/started by voxl-camera-server.

System details

Platform: VOXL2 

System Image: 1.7.4

PMD Module: M0169 (PMD ToF)

Use case: Tracking + ToF + HiRes

Hardware connection (Option 1)
VOXL2 → M0076 → M0074 extender → M0169 (external regulated 5V supplied) → ToF 

External 5V is provided to M0169.

Camera configuration

Cameras enabled: PMD ToF + IMX214 (HiRes) + OV7251 (Tracking)

IMX214 and OV7251 start correctly, but not pmd-tof

kindly look at the screenshots.
![a36f52a5-a172-4531-8f43-0905ee278823-Screenshot from 2025-12-25 17-40-44.png](https://forum.modalai.com/assets/uploads/files/1766665821096-a36f52a5-a172-4531-8f43-0905ee278823-screenshot-from-2025-12-25-17-40-44.png) /home/idr/Pictures/Screenshots/Screenshot from 2025-12-25 17-40-44.png
![10272c6a-fa27-45e7-bb32-6c97b4aeb271-Screenshot from 2025-12-25 17-40-54.png](https://forum.modalai.com/assets/uploads/files/1766665834966-10272c6a-fa27-45e7-bb32-6c97b4aeb271-screenshot-from-2025-12-25-17-40-54.png) /home/idr/Pictures/Screenshots/Screenshot from 2025-12-25 17-40-54.png
![a41128c1-4a1b-4240-876e-c8d29a098411-Screenshot from 2025-12-25 17-41-05.png](https://forum.modalai.com/assets/uploads/files/1766665846352-a41128c1-4a1b-4240-876e-c8d29a098411-screenshot-from-2025-12-25-17-41-05.png) /home/idr/Pictures/Screenshots/Screenshot from 2025-12-25 17-41-05.png

![0df2ec23-7ed1-43f9-8417-6989d6957e24-WhatsApp Image 2025-12-25 at 6.00.04 PM.jpeg](https://forum.modalai.com/assets/uploads/files/1766666045511-0df2ec23-7ed1-43f9-8417-6989d6957e24-whatsapp-image-2025-12-25-at-6.00.04-pm.jpeg) /home/idr/Downloads/WhatsApp Image 2025-12-25 at 6.00.04 PM.jpeg

## Reply by Sarika Sharma · 2025-12-26 13:09:44 UTC

@Sarika-Sharma Now TOF is detected. I have choosed pmd-tof instead of pmd-tof-liow2.
But please give solution for the following problem.
When I used J7 according to the following configuration
Hardware Setup
M0104    Connector	 Interposer Sensor	HW ID 	 	 
J7	     M0135 JL	         Tracking (M0014 )	2
J7	      M0135 JU	         Hires (M0025-2 )	3
OR
J7	M0135 JL	Hires (M0025-2 )	2
J7	M0135 JU	Tracking (M0014 )	3

ONLY , The camera which is connected to JL is working either tracking or hires.
Cameras connected to JU is not working.
When i run voxl-camera-server it gives this 
WARNING: cam tracking (id 1) does not seem to be alive

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running
OR
When i run voxl-camera-server it gives this 
WARNING: cam hires (id 1) does not seem to be alive

------ voxl-camera-server: Started 1 of 2 cameras

------ voxl-camera-server: Camera server is now running![alt text](![ba913d5d-8f28-44d8-8ee4-8a906e5f680c-WhatsApp Image 2025-12-26 at 5.31.01 PM.jpeg](https://forum.modalai.com/assets/uploads/files/1766754655536-ba913d5d-8f28-44d8-8ee4-8a906e5f680c-whatsapp-image-2025-12-26-at-5.31.01-pm.jpeg) )/home/idr/Downloads/WhatsApp Image 2025-12-26 at 5.31.01 PM.jpeg