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- how to connect a 4-20 mA sensor to a TRB141 router and how I can see the status of the IOs and the analog sensor (result) in real time,

- and I want to update my TRB141 Router for the latest version "TRB1_R_00.02.06.1" and its not working gives me this message "The uploaded image file does not contain a supported format."https://community.teltonika-networks.com/?qa=blob&qa_blobid=2689673376503744219

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For the firmware issue, you need to follow the steps provided in this link: TRB141 Legacy FW Upgrade Instructions - Teltonika Networks Wiki (teltonika-networks.com)

Next is about the 4-20mA sensor connected to the Analog input you can monitor it via Modbus or MQTT. 

TRB141 Monitoring via Modbus - Teltonika Networks Wiki (teltonika-networks.com)
Monitoring via MQTT - Teltonika Networks Wiki (teltonika-networks.com)

Also, you can refer to this short video: 
TRB141 MQTT I/O Monitoring - YouTube
TRB141 Input/Output - Teltonika Networks Wiki (teltonika-networks.com)

I hope it helps