ZeroPi’s has a DC-005 power jack (5.5mm x 2.1mm), the same jack used on most Arduino boards. DC input range from 6V to 24V which depends on driving modules.
DC Motor Driver TB6612:
Voltage Range (V): 6~13.5
Normal woking voltage (V): 7~12
Stepper Driver DRV8825:
Voltage Range (V): 8.2~24
Normal woking voltage (V): 12~24
Caution: Do NOT feed 12V higher with TB6612 mounting on any slot.