Benewake TFmini-S User manual

Product Manual of TFmini-S
TFmini-S LiDAR Module

SJ-PM-TFmini-S A01 Product Manual
Benewake (Beijing) Co. Ltd.
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Specified Product
Product model: TFmini-S
Product name: TFmini-S LiDAR Module
Manufacturer
Company name: Benewake (Beijing) Co. Ltd.
Address: No.28, Xinxi Road, Haidian District, Beijing, PRC
Copyright
The Copyright of this document is protected. All the rights involved herein belong to Benewake (Beijing) Co. Ltd.
Any copy activity of this document, no matter in whole or in part, should be in conformity of the Copyright Law.
The actives of Modification, omission or translation of this document are not allowed unless a written permission
from Benewake (Beijing) Co. Ltd.
All rights reserved © Benewake (Beijing) Co. Ltd.
Product Certification

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Foreword
Dear users,
Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical question.
In the purpose of offering a better operation experience to you, we hereby write this manual for an easier
and simpler operation of our product, hoping to better solve the common problems you maybe meet.
This operation manual covers the product operation introduction and common problem solutions, but it is
really hard to covers all the problems you maybe meet. So, if you have any further questions or problems,
please feel free to consult our technical support service ([email protected]). We will do our best to
solve any problem related to the product. If you have any other good advice or suggestion, welcome to visit
our official website and offer us your feedback there (http://en.benewake.com/contact_us), and we are
looking forwards to your participation.
We are Benewake who dedicated to making the best “Robotic Eyes” worldwide!

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Table of Contents
1ATTENTIONS ........................................................................................................................................................6
1.1 ABOUT THIS MANUAL ..................................................................................................................................................6
1.2 USAGE OF PRODUCT ....................................................................................................................................................6
1.3 CONDITIONS WITH POTENTIAL MALFUNCTION ..................................................................................................................6
2DESCRIPTION ......................................................................................................................................................6
2.1 PRODUCT DESCRIPTION.................................................................................................................................................6
2.2 PRINCIPLE OF DISTANCE MEASUREMENT..........................................................................................................................7
2.3 MAIN CHARACTERISTIC PARAMETERS ..............................................................................................................................7
2.4 REPEATABILITY ............................................................................................................................................................8
2.5 DISTANCE MEASUREMENT CHARACTERISTICS ....................................................................................................................8
3APPEARANCE AND STRUCTURE .....................................................................................................................9
3.1 PRODUCT APPEARANCE AND STRUCTURE .........................................................................................................................9
4ELECTRICAL CHARACTERISTICS ................................................................................................................10
5LINE SEQUENCE AND DATA COMMUNICATION PROTOCOL..................................................................10
5.1 DESCRIPTION ABOUT LINE SEQUENCE AND CONNECTION...................................................................................................10
5.2 SERIAL PORT COMMUNICATION PROTOCOL.....................................................................................................................11
5.3 DATA OUTPUT FORMAT OF SERIAL PORT.........................................................................................................................11
5.4 DESCRIPTIONS OF DEFAULT OUTPUT DATA ......................................................................................................................12
5.5 I2C DATA COMMUNICATION .........................................................................................................................................12
5.6 TIMING SEQUENCE DESCRIPTION OF I2C MODE ................................................................................................................12
5.7 I/O MODE DESCRIPTION..............................................................................................................................................13
6QUICK TEST .......................................................................................................................................................13
6.1 REQUIRED TOOLS OF PRODUCT TEST .............................................................................................................................13
6.2 TEST PROCEDURES.....................................................................................................................................................13

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7DESCRIPTIONS ON PARAMETER CONFIGURATION .................................................................................15
7.1 FUNCTION OVERVIEW ................................................................................................................................................15
7.2 COMMAND CONVENTION ...........................................................................................................................................16
7.3 COMMAND FRAME DEFINITION....................................................................................................................................16
7.4 GENERAL PARAMETER CONFIGURATION AND DESCRIPTION................................................................................................16
8REMOTE UPGRADING......................................................................................................................................19
9MALFUNCTION: CAUSES AND TROUBLESHOOTING................................................................................20
10 Q&A .......................................................................................................................................................................22
ATTACHMENT 1: INTRODUCTION OF TF SERIES PC SOFTWARE ................................................................23

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1 Attentions
1.1 About this Manual
This manual provides all the essential information during the usage of this product.
Please carefully read this manual and make sure that you fully understand everything herein.
1.2 Usage of Product
The maintenance of this product should be done by the professional technician, and the product
can only work with the factory spare part for ensuring the performance and safety.
This product itself has no polarity and over-voltage protection. Please properly connect and supply
power as described in this manual.
Operating temperature of this product is between 0℃ and 60℃. Do not use it beyond this
temperature range to prevent malfunction.
Storage temperature of this product is between -20℃ and 75℃. Do not store it beyond this
temperature range to prevent malfunction.
For ensuring the product performance, do not open the product shell or remove the IR-pass filter.
1.3 Conditions with Potential Malfunction
Detecting object with high reflectivity, such as the mirror or the smooth floor tile, may cause a
system malfunction.
The product will malfunction if there is any transparent object between it and the detecting object,
such as glass or water.
The product will be subject to risk of failure if its transmitting or receiving len is covered by the
dust. Please keep the lens clean.
Please do not directly touch circuit board of the product by hand as it is exposed. Please wear
antistatic wrist strap or glove if necessary; Otherwise, the product will be subject to risk of failure,
which is shown by failure of normal operation, and even it will be broken.
2 Description
2.1 Product description
TFmini-S is an upgrade project based on TFmini. It is a miniaturized, single-point ranging product.
Based on the ToF (time of flight) principle, it is designed with unique optics, electricity, and algorithms
to achieve stability, precision, sensitivity and high-speed distance measurement function. In addition

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to the low-cost, small-size, and long-ranging of the TFmini, the product itself has higher distance
measurement accuracy. It is more adaptable to different outdoor environments such as strong light,
different temperatures, and different reflectances. It has lower power consumption and more flexible
detection frequency. The product is compatible with both the UART and I2C interface. Different
interfaces can be switched by commands.
2.2 Principle of Distance Measurement
TFmini-S is based on ToF (Time of Flight). To be specific, the product emits modulation wave of near
infrared ray on a periodic basis, which will be reflected after contacting object. The product obtains
the time of flight by measuring round-trip phase difference and then calculates relative range between
the product and the detection object, as shown in Figure 1.
Figure 1 Schematics of ToF Principle
2.3 Main Characteristic Parameters
Table 1 Main Characteristic Parameters of TFmini-S
Description
Parameter value
Operating range
0.1m~12m①
Accuracy
±6cm@（0.1-6m）②
±1%@（6m-12m）
Measurement unit
cm
Range resolution
1cm
FOV
2°③
Frame rate
1~1000Hz（adjustable）④
①Operating range based on a standard whiteboard with 90% reflectivity in indoor condition
②The distance measurement here is absolute accuracy, and the specific repeat accuracy will be described in section 2.4.
③2°is the theoretical value, from which the actual value will be different.
④Only frame rates meeting the formula–1000/n (n is positive integer) can be set. The default frame rate is 100Hz.

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2.4 Repeatability
The repeat accuracy of TFmini-S is directly related to the Strength value measured and the output
frame rate (Frequence). The ranging repeat accuracy is characterized by the standard deviation of
ranging. When the frame rate is 100 Hz, the standard deviation of ranging is as follows under the
background of 90% transmittance:
Table 2 Statistics: the standard deviation of TFmini-S at 100Hz and 90% reflectivity
Dist
2m
4m
6m
8m
10m
STD
0.5cm
1cm
1.5cm
2cm
2.5cm
2.5 Distance Measurement Characteristics
With optimization of light path and algorithm, TFmini-S has minimized influence from external
environment on distance measurement performance. Despite that, the range of distance measurement
may still be affected by the environment illumination intensity and the reflectivity of detection object.
The detection blind zone of TFmini-S, 0-10cm, within which the output data is unreliable.
The operating range of TFmini-S detecting black target with 10% reflectivity, 0.1-7m.
The operating range of TFmini-S detecting white target with 90% reflectivity, 0.1-12m.
The diameter of light spot depends on the FOV of TFmini-S (the term of FOV generally refers to the
smaller value between the receiving angle and the transmitting angle), which is calculated as follows:
d = 2 ∗ D ∙ tanβ
In the formula above, dis the diameter of light spot; D is detecting range; β is the the value of the
half receiving angle of TFmini-S, 1°. Correspondence between the diameter of light spot and detecting
range is given in Table 3.
Table 3 the Minimum side length of effective detection corresponding to Detecting Range
Detecting
range
1m
2m
3m
4m
5m
6m
7m
8m
9m
10m
11m
12m
Minimum
side length
3.5cm
7cm
10.5cm
14cm
17.5cm
21cm
24.5cm
28cm
31.5cm
35cm
38.5cm
42cm

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If the light spot reaches two objects with different distances, as shown in Figure 2, the output distance value
will be a value between the actual distance values of the two objects. For a high accuracy requirement in
practice, the above situation should be noticed to avoid the measurement error.
Figure 2 Distance Measurement in the case of Two Objects of Different Distances
3 Appearance and Structure
3.1 Product Appearance and Structure
Figure 3: Dimension of TFmini-S(Unit:mm)

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4 Electrical Characteristics
Table 4: Major Electrical Parameters of TFmini-S
Description
Parameter value
Supply voltage
5V±0.1V
Average current
≤140mA
Peak current
200mA
Average power
700mW
Communication level
LVTTL（3.3V）
This product has no overvoltage nor polarity protection, so please make sure that connection and power
supply are normal. The fluctuation of the power supply voltage in a range of ±0.1V is allowable.
Average current varies along with the operating modes of the product in two patterns, more specifically, its
current is around 50mA under short distance mode and it is around 140mA under long distance mode.
5 Line Sequence and Data Communication Protocol
5.1 Description about Line Sequence and Connection
Table5: The Function and Connection Description of each pin
No.
Color
Function
Comment
①
Black
GND
Ground
②
Red
+5V
Power supply
③
White
RXD/SDA
Receiving/Data
④
Green
TXD/SCL
Transmitting/Clock
Type of connecting terminal: GH1.25-4P. The product includes a 10cm long connecting wire, the other end
of which is a conventional 1.25-4p terminal (Molex510210400). The user may extend this wire as he/she
needs. In order to ensure effective data transmission, it is recommended that the length of the connecting
wire welded by the user should be less than 1m.

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5.2 Serial port Communication Protocol
TFmini-S adopts the serial port data communication protocol, as given in Table 6.
Table 6 Data Communication Protocol of TFmini-S —— UART
Communication interface
UART
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
5.3 Data Output Format of Serial port
TFmini-S is available with two formats of data output, namely, the standard data output format and
the character string data format, both of which are switchable with command.
Standard data output format (default):
Data structure: each data frame contains 9 bytes, including the distance value, signal strength,
temperature of chip and data check byte (Checksum), etc. Data format is hexadecimal (HEX). Data
codes are detailed in Table 7:
Table 7 Data Format and Code Explanation
Byte0 -1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
0x59 59
Dist_L
Dist_H
Strength_L
Strength_H
Temp_L
Temp_H
Checksum
Data code explanation
Byte0
0x59, frame header, same for each frame
Byte1
0x59, frame header, same for each frame
Byte2
Dist_L distance value low 8 bits
Byte3
Dist_H distance value high 8 bits
Byte4
Strength_L low 8 bits
Byte5
Strength_H high 8 bits
Byte6
Temp_L low 8 bits
Byte7
Temp_H high 8 bits
Byte8
Checksum is the lower 8 bits of the cumulative sum of the numbers of the first 8 bytes.
Character string data format
The data output is in the format of character string and its unit is m(meter). For example, if the
measurement distance is 1.21m, the string 1.21 will be output, followed by the escape character \r\n.

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5.4 Descriptions of default Output Data
Dist(Distance): Represents the output of the distance value detected by TFmini-S, with the unit in cm
by default. This value is interpreted into the decimal value in the range of 0-2000. When the signal
strength is lower than 100, the detection is unreliable, TFmini-S will set distance value to -1. Abnormal
data values are detailed in Table 8.
Strength: Represents the signal strength with the default value in the range of 0-65535. After the
distance mode is set, the longer the measurement distance is, the lower the signal strength will be; the
lower the reflectivity is, the lower the signal strength will be.
Temp(Temperature): Represents the chip temperature of TFmini-S. Degree centigrade = Temp / 8 -
256
Table 8 Description of abnormal data values
Dist
Strength
Comment
65535（-1）
＜100
Strength＜100
65534（-2）
65535（-1）
Signal strength saturation
65532（-4）
Other value
Ambient light saturation
5.5 I2C data communication
Table 9 Data Communication Protocol of TFmini-S —— I ² C
Interface
I²C
Max transmission rate
400kbps
Master/slave mode
Slave mode
Default address
0x10
Address range
0x01~0x7F
5.6 Timing sequence description of I2C mode
Different from the serial mode, the I2C communication is initiated by the master. TFmini-S as the slave,
can only send and receive data passively. After the sending the config-frame from the master to the slave,
one needs to wait for a period for the command to be processed. Then read feedback operation, the
suggested waiting period is 100ms. The two commands "Restore Factory Settings" and "Save Current
Settings" involve data storage operations, and the recommended waiting time is 2s. To ensure the real-time

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performance in the ranging state, the “acquired ranging result” data frame requires a short waiting time. It
is recommended to wait for 1ms and then read the result after sending commands.
In order to ensure that the ranging result is read correctly, it is necessary to set the frame rate of the
radar to be greater than or equal to 2.5 times the frame rate of the I2C reading ranging result by the command
"ID_SAMPLE_FREQ=0x03". Data are detailed in Table 10.
Table 10 Timing sequence of the I2C mode
Start
Addr
W
A
Byte0
A
---
ByteN
A
Stop
Wait 100ms
Start
Addr
R
A
Byte0
A
---
ByteN
A
Stop
5.7 I/O mode description
I/O output mode is supported and could be enabled by related command. See detail in chapter 7.4.
Command open mode (Mode), critical distance (Dist) and hysteresis zone (Zone) could be configurable:
Mode: 0(data output mode), 1(I/O mode, high level near and low level far), 2(I/O mode, low level near
and high level far); default value is 0.
Dist: critical value, near end value in hysteresis zone, unit is cm, default number is 0.
Zone: hysteresis zone range, unit is cm; default value is 0(there is no hysteresis zone)
The hysteresis zone could be set by this command, when output is near zone level, output will be
switched to far zone level if measured result is higher than far end point; when output is far zone level,
output is switched to near zone level if measured result is lower than near end point.(high level:3.3V,low
level:0V)
6 Quick Test
6.1 Required Tools of Product Test
TFmini-S
Data wire
TTL - USB
converter
USB cable
PC
PC software
6.2 Test Procedures
①Download the Test software
Please download the Test software of TFmini-S at our official website (en.benewake.com).

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Caution: please shut down any anti-virus software before uncompressing the PC software. Otherwise,
maybe the software is deleted as virus. The software is only runnable under Windows environment for the
time being. Please refer to Attachment 1 - Product manual of TF Test software.
②Connection of the hardware
Connect “TFmini-S”, “TTL - USB board” and “USB cable” as shown in Figure 4. Make sure there is no
loose connection. Then connect “USB cable” with “PC”.
Figure 4 Schematic Diagram of Correct Connection
③Connection to the Test software and data output
Open the PC software and select “①TFmini” and select automatically recognized occupied serial port
(here it is “② COM9”), as shown in Figure 5
Then click “CONNECT”. Upon successful connection, The continuous images of the output data will be
displayed in area “④ TIME LINE CHART” on the right. Besides, the real-time data of the Current measure
distance (Dist), effective data points per second (Effective Points) and signal strength (Strength) will be
displayed in area “⑥ REAL TIME DATA” below.

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Figure 5 Software Interface and Display
Notes:
a) If no data is available in area “④TIME LINE CHART”, please check the line connection and
line sequence. When TFmini-S is successfully powered on, there will be a red indicator light
inside transmitting lens viewing from the front.
b) If the user want the TFmini-S output in the Pixhawk format, please select “③Pix Mode” at first,
otherwise area “④TIME LINE CHART” will not output the right data image normally. After Pix
Mode is checked, the unit of distance will be changed into m automatically.
c) The value of distance output Dist may vary with the output unit, which is cm by default. If the
unit of distance is changed to the unit-mm with specific command, and the PC software will be
unable to identify it, and so the unit of “④TIME LINE CHART” will still be cm. For example,
the actual TFmini-S measurement is 1m, the distance value of TFmini-S is 1000 in mm, the value
read by the PC software also is 1000, but the unit will not change and still display cm.
7 Descriptions on Parameter Configuration
7.1 Function Overview
The function of user-defined configuration of product parameters is hereby enabled for more flexible
settlement of your problems by TFmini-S. User may modify original parameters by sending relevant
commands, such as output data format and frame rate, etc.

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Please modify product configuration depending upon your actual demands. Do not frequently try
irrelevant commands to prevent incorrect sending of command which many cause unnecessary loss.
Please make sure to make the configuration as the commands listed herein. Do not send unstated
command.
7.2 Command Convention
1) Multi-bytes data or command frame is transmitted in little endian format.
For example, decimal number 1000 can be transferred to 0x03E8 in hexadecimal. Then it will be saved in the data or
command frame as:
0x5A 0x06 0x03 0xE8 0x03 0x4E
2) Command: data instruction frame sent from PC to LiDAR.
3) Response: data instruction frame uploaded from LiDAR to host computer or other terminal
7.3 Command Frame Definition
Caution: All configuration commands are sent as hexadecimal digits (HEX).
Table 11 Command frame definition
Byte0
Byte1
Byte2
Byte3 ~ ByteN-2
ByteN-1
Head
Len
ID
Payload
Checksum
Remarks
Byte0
Head: frame header（0x5A）
Byte1
Len: the total length of the frame（include Head and Checksum，unit: byte）
Byte2
ID: identifier code of command
Byte3-N-2
Data: data segment. Little endian format
ByteN-1
Checksum: sum of all bytes from Head to payload. Lower 8 bits
7.4 General Parameter Configuration and Description
Before setting the relevant parameters of TFmini-S, user needs to establish the connection between
TFmini-S and PC at first. About the connection details, refer to the test connection given in Chapter
6.2. User can send the relevant configuration-related instructions to the product via TFmini-S PC
software or other serial port debugging software. All commands are compatible with both the UART
mode and the I2C mode.
Important: After setting parameters, the ‘Save setting’ command needs to be sent.

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Table 12 General Parameter Configuration and Description
Parameters
Command
Response
Remark
Default setting
Obtain
firmware
version
5A 04 01 5F
5A 07 01 V1 V2 V3 SU
Version V3.2.1
System reset
5A 04 02 60④
5A 05 02 00 60
Succeeded
/
5A 05 02 01 61
Failed
/
Frame rate
5A 06 03 LL HH SU
5A 06 03 LL HH SU
1-1000Hz①
100Hz
Trigger
detection
5A 04 04 62
Data frame
After setting the
frame rate to 0，
detection can be
triggered with this
command
Output format
5A 05 05 01 65
5A 05 05 01 65
Standard 9
bytes(cm)
√
5A 05 05 02 66
5A 05 05 02 66
Pixhawk
/
5A 05 05 06 6A
5A 05 05 06 6A
Standard 9 bytes
(mm)
/
Baud rate
5A 08 06 H1 H2 H3 H4 SU
5A 08 06 H1 H2 H3 H4 SU
Set baud rate②
E.g.
256000(DEC)=3E
800(HEX),
H1=00,H2=E8,H3
=03,H4=00
115200
Enable/Disabl
e output
5A 05 07 00 66
5A 05 07 00 66
Disable data
output
/
5A 05 07 01 67
5A 05 07 01 67
Enable data output
√
Communicatio
n interface
setup
5A 05 0A MODE SU
/
0（UART）
1（I2C）
UART
Modify slave
address of I2C
5A 05 0B ADDR SU
5A 05 0B ADDR SU
Modify
I2c_slave_addr
0x10
Obtain Data
Frame
5A 05 00 01 60
Data Frame(9bytes-cm)
Only works in I2C
mode
/
5A 05 00 06 65
Date Frame(9bytes-mm)

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I/O mode
enable
5A 09 3B MODE DL DH
ZoneL ZoneH SU
/
Open or close I/O
output mode
MODE:
0--standard data
mode
1--I/O,near high
and far low
2--I/O,near low
and far high
Zone:hysteresis
zone
0(standard data
mode)
Low power
consumption
mode
5A 06 35 0X 00 SU
5A 06 35 0X 00 SU
Range of X(HEX)
is 0~A, frame rate
can’t over 10Hz
under low power
consumption
mode;
X>0, low power
mode on;
X=0, low power
mode off⑤
/
Strength
Threshold and
Distance
under
threshold
5A 07 22 XX LL HH 00⑥
5A 07 22 XX LL HH SU
E.g. When strength
is below 100,
make distance
output 1200cm.
XX=100/10=10(D
EC)=0A(HEX)
1200(DEC)=4B0(
HEX)
LL=B0，HH=04
Strength
Threshold=100
Distance under
threshold =
65535(-1)
Restore
factory
settings
5A 04 10 6E
5A 05 10 00 6F
Succeeded
5A 05 10 01 70
Failed
Save settings
5A 04 11 6F③
5A 05 11 00 70
Succeeded
5A 05 11 01 71
Failed
Note: Bytes with yellow undertone represents checksum.
①The default update rate is 100Hz. The customized update rate should be calculated by the formula:
1000/n (n is positive integer). Increasing frame rate will decrease the data stability.

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②Only standard baud rates are supported. When setting a high update rate, a high baud rate is
recommended to ensure data security.
③Please always send the command of save settings when try to modify parameters of TFmini-S and
wait for 1s after sending save settings command, otherwise the settings will not take effect.
④Please keep power on and wait 1s after sending system reset command, otherwise the settings will
not take effect.
⑤After converting low power mode to normal power mode, frame rate will be same as low power
mode, if 100Hz is needed, please change the frame rate to 100Hz by command after turning off low
power mode.
⑥If the threshold is less than 100, the distance will become unstable when the strength is below 100.
8 Remote Upgrading
TFmini-S supports the remote upgrade. When the user’s product cannot satisfy the current application
requirements and Benewake official website has relevant firmware upgrades, the user may upgrade the
product firmware via remotely upgrading the PC software. Please contact us to get the Updater
The tools for the firmware upgrade of TFmini-S are mostly the same as the Quick Test, which requires one
TTL-USB board to connect the TFmini-S with PC.
Figure 6 Upgrade tool of TFmini-S
Upon successful connection, open the Updater.exe. Select right port, here is “①COM8”. Input the right
baud rate in “②115200” and click “③ CONNECT” to connect the TFmini-S with the Updater. Click
“④ Open Bin” to choose the updating firmware, whose directory will be showed in the textbox above.
Then click “⑤Download Bin” to start upgrading. The information of upgrading will be showed in “⑥”.
Caution: Remote upgrade of the host computer and firmware files need to be placed in the pure English
path.

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9 Malfunction: Causes and Troubleshooting
(1) Distance value occasionally will abruptly change into -1 beyond the range during normal
operation.
Cause: The different test environments (reflectivity of detected object, disturbance of ambient light, etc.)
will affect the signal strength of TFmini-S. For a reliable and stable measurement data, the algorithm
elimination is internally used for TFmini-S. In case of the insufficient signal strength, TFmini-S will output
-1. This value is not measurement data of TFmini-S, which is only used to remind the user that such data is
unreliable.
Troubleshooting: please use such value as the trigger signal of some unreliable data, and it will ensure that
your system can use other reliable data for further assessment and decision-making if there are some
unreliable data.
(2) Significant error between the output distant value of LiDAR and actual distance
Cause ①: Incorrect interpretation of the data communication protocol of TFmini-S.
Troubleshooting: check data communication interpretation means. In case of such error, please check the
data format to adjust interpretation means.
Cause ②：Due to the physical principles of TFmini-S, the above phenomenon is likely to occur if the
detection object is the material with high reflectivity (such as mirror, smooth floor tile, etc.) or transparent
substance (such as glass and water, etc.)
Troubleshooting: Please avoid use of this product under such circumstance in practice.
Cause ③: The IR-pass filters are blocked.
Troubleshooting: please use dry dust-free cloth to gently remove the foreign matter
(3) No data output
Cause: The product will be strictly inspected before leaving our factory, ensuring that all the shipped
products can work normally. However, some abnormal working matters maybe still occur because of
incidents during the transportation or use.
Troubleshooting: Check whether the power supply is normal; check whether the voltage is within rated
voltage range. If power supply is normal, there will be a red light inside the transmitting lens of TFmini-S.
Check TFmini-S with correct connection sequence and reliable connection.
Check whether the data interpretation is correct. Please carry out the interpretation as per the data format