TcAdsClient Class

Inheritance Hierarchy

System.Object
TwinCAT.Ads.TcAdsClient
Namespace: TwinCAT.Ads
Assembly: TwinCAT.Ads (in TwinCAT.Ads.dll) Version: 4.3.0.0

C#

public class TcAdsClient : ITcAdsRpcInvoke, 
    IDisposable, IAdsConnection, IConnection, IConnectionStateProvider, IAdsNotifications, 
    IAdsAnyAccess, IAdsHandleAccess

VB

Public Class TcAdsClient
    Implements ITcAdsRpcInvoke, IDisposable, IAdsConnection, IConnection, 
    IConnectionStateProvider, IAdsNotifications, IAdsAnyAccess, IAdsHandleAccess

The TcAdsClient type exposes the following members.

Constructors

	Name	Description
	TcAdsClient.	Initializes a new instance of the class TcAdsClient.
	TcAdsClient(AdsClientSettings)	Initializes a new instance of the TcAdsClient class.

Properties

	Name	Description
	Address	Gets the AmsAddress of the ADS server (Target side)
	ClientAddress	Get the AmsAddress of the ADS client (Source side)
	Disposed	Determines, whether the TcAdsClient is disposed
	Id	Gets the TcAdsClient Identifier.
	IsConnected	Gets a value indicating whether the local ADS port was opened successfully. It does not indicate if the target port is available. Use the method ReadState to determine if the target port is available.
	IsLocal	Gets a value indicating whether the ADS client is connected to a ADS Server on the local computer.
	Protocol	Gets actual ADS Transport protocol
	RouterState	Gets the current state of the local AMS Router.
	Session	Gets the session that initiated this IConnection
	Synchronize	Gets or sets a value indicating whether the TcAdsClient object synchronizes the incoming notifications (obsolete)
	Timeout	Sets the timeout for the ads communication. Unit is in ms.

Methods

	Name	Description
	AddDeviceNotification(String, AdsStream, AdsTransMode, Int32, Int32, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotification(String, AdsStream, AdsTransMode, TimeSpan, TimeSpan, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotification(UInt32, UInt32, AdsStream, AdsTransMode, Int32, Int32, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotification(UInt32, UInt32, AdsStream, AdsTransMode, TimeSpan, TimeSpan, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotification(String, AdsStream, Int32, Int32, AdsTransMode, Int32, Int32, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotification(String, AdsStream, Int32, Int32, AdsTransMode, TimeSpan, TimeSpan, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotification(UInt32, UInt32, AdsStream, Int32, Int32, AdsTransMode, Int32, Int32, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotification(UInt32, UInt32, AdsStream, Int32, Int32, AdsTransMode, TimeSpan, TimeSpan, Object)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotificationEx(String, AdsTransMode, Int32, Int32, Object, Type)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotificationEx(String, AdsTransMode, TimeSpan, TimeSpan, Object, Type)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotificationEx(String, AdsTransMode, Int32, Int32, Object, Type, .Int32.)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotificationEx(String, AdsTransMode, TimeSpan, TimeSpan, Object, Type, .Int32.)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotificationEx(UInt32, UInt32, AdsTransMode, Int32, Int32, Object, Type)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotificationEx(UInt32, UInt32, AdsTransMode, TimeSpan, TimeSpan, Object, Type)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	AddDeviceNotificationEx(UInt32, UInt32, AdsTransMode, Int32, Int32, Object, Type, .Int32.)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event. If type is a string type, the first element of the parameter args specifies the number of characters of the string. If type is an array type, the number of elements for each dimension has to be specified in the parameter args. At the moment only 1 dimensional Arrays are supported.
	AddDeviceNotificationEx(UInt32, UInt32, AdsTransMode, TimeSpan, TimeSpan, Object, Type, .Int32.)	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event. If type is a string type, the first element of the parameter args specifies the number of characters of the string. If type is an array type, the number of elements for each dimension has to be specified in the parameter args. At the moment only 1 dimensional Arrays are supported.
	Close	Closes this IConnection
	Connect(Int32)	Establishes a connection to a ADS device using the local netID.
	Connect(AmsAddress)	Establishes a connection to a ADS device.
	Connect(.Byte., Int32)	Establishes a connection to a ADS device.
	Connect(String, Int32)	Establishes a connection to a ADS device.
	Connect(AmsNetId, Int32)	Establishes a connection to a ADS device.
	Connect(AmsNetId, AmsPort)	Establishes a connection to a ADS device.
	CreateSymbolInfoLoader	Obsolete. Creates a new instance of the TcAdsSymbolInfoLoader class (Symbol Browser V1, obsolete).
	CreateVariableHandle	Generates a unique handle for an ADS variable.
	DeleteDeviceNotification	Deletes an existing notification.
	DeleteVariableHandle	Releases the handle of a ADS variable again.
	Disconnect	Disconnects the TcAdsClient
	Dispose.	Releases the resources used by TcAdsClient.
	Dispose(Boolean)	Disposes the TcAdsClient.
	Equals	Determines whether the specified object is equal to the current object. (Inherited from Object.)
	Finalize	Finalizes an instance of the TcAdsClient class. (Overrides Object.Finalize..)
	GetHashCode	Serves as the default hash function. (Inherited from Object.)
	GetType	Gets the Type of the current instance. (Inherited from Object.)
	InvokeRpcMethod(String, Int32, .Object.)	Invokes the specified RPC Method
	InvokeRpcMethod(String, String, .Object.)	Invokes the RPC method.
	InvokeRpcMethod(ITcAdsSymbol, Int32, .Object.)	Invokes the specified RPC Method
	InvokeRpcMethod(ITcAdsSymbol, String, .Object.)	Invokes the RPC method.
	MemberwiseClone	Creates a shallow copy of the current Object. (Inherited from Object.)
	OnBeforeDisconnect	Called when before the TcAdsClient is disconnected.
	OnConnectionStateChanged	Called when the ConnectionState of the TcAdsClient has changed.
	Read(Int32, AdsStream)	Reads data synchronously from an ADS device and writes it to the given stream.
	Read(UInt32, UInt32, AdsStream)	Reads data synchronously from an ADS device and writes it to the given stream.
	Read(Int32, AdsStream, Int32, Int32)	Reads data synchronously from an ADS device and writes it to the given stream.
	Read(UInt32, UInt32, .Byte., Int32, Int32)	Reads data synchronously from an ADS device and writes it to the given stream.
	Read(UInt32, UInt32, AdsStream, Int32, Int32)	Reads data synchronously from an ADS device and writes it to the given stream.
	ReadAny(Int32, Type)	Reads data synchronously from an ADS device and writes it to an object.
	ReadAny(Int32, Type, .Int32.)	Reads data synchronously from an ADS device and writes it to an object.
	ReadAny(UInt32, UInt32, Type)	Reads data synchronously from an ADS device and writes it to an object.
	ReadAny(UInt32, UInt32, Type, .Int32.)	Reads data synchronously from an ADS device and writes it to an object.
	ReadAnyString(Int32, Int32, Encoding)	Reads the string.
	ReadAnyString(UInt32, UInt32, Int32, Encoding)	Reads the string
	ReadDeviceInfo	Reads the identification and version number of an ADS server.
	ReadState	Reads the ADS status and the device status from an ADS server.
	ReadSymbol(ITcAdsSymbol)	Reads the value of a symbol and returns it as an object. Strings and all primitive datatypes(UInt32, Int32, Bool etc.) are supported. Arrays and structures cannot be read.
	ReadSymbol(String, Type, Boolean)	Reads the value of a symbol and returns the value as object. The parameter type must have the same layout as the ADS symbol.
	ReadSymbolInfo	Call this method to obtain information about the individual symbols (variables) in ADS devices.
	ReadWrite(UInt32, UInt32, AdsStream, AdsStream)	Writes data synchronously to an ADS device and then Reads data from this device.
	ReadWrite(Int32, AdsStream, Int32, Int32, AdsStream, Int32, Int32)	Writes data synchronously to an ADS device and then Reads data from this device.
	ReadWrite(UInt32, UInt32, .Byte., Int32, Int32, .Byte., Int32, Int32)	Writes data synchronously to an ADS device and then Reads data from this device.
	ReadWrite(UInt32, UInt32, AdsStream, Int32, Int32, AdsStream, Int32, Int32)	Writes data synchronously to an ADS device and then Reads data from this device.
	ToString	Returns a string that represents the current object. (Inherited from Object.)
	TryAddDeviceNotification	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	TryAddDeviceNotificationEx	Connects a variable to the ADS client. The ADS client will be notified by the AdsNotification event.
	TryDeleteDeviceNotification	Deletes an existing notification.
	TryInvokeRpcMethod(String, Int32, .Object., Object.)	Invokes the specified RPC Method
	TryInvokeRpcMethod(String, String, .Object., Object.)	Tries to invoke the RPC method.
	TryInvokeRpcMethod(ITcAdsSymbol, Int32, .Object., Object.)	Invokes the specified RPC Method
	TryInvokeRpcMethod(ITcAdsSymbol, String, .Object., Object.)	Tries to invoke a RPC method.
	TryRead(UInt32, UInt32, AdsStream, Int32.)	Reads data synchronously from an ADS device and writes it to the given stream.
	TryRead(Int32, AdsStream, Int32, Int32, Int32.)	Reads data synchronously from an ADS device and writes it to the given stream.
	TryRead(UInt32, UInt32, .Byte., Int32, Int32, Int32.)	Reads data synchronously from an ADS device and writes it to the given stream.
	TryRead(UInt32, UInt32, AdsStream, Int32, Int32, Int32.)	Reads data synchronously from an ADS device and writes it to the given stream.
	TryReadState	Reads the ADS status and the device status from an ADS server. Unlike the ReadState method this method does not call an exception on failure. Instead an AdsErrorCode is returned. If the return value is equal to AdsErrorCode.NoError the call was successfull.
	TryReadWrite(Int32, .Byte., Int32, Int32, .Byte., Int32, Int32, Int32.)	Writes data synchronously to an ADS device and then Reads data from this device.
	TryReadWrite(Int32, AdsStream, Int32, Int32, AdsStream, Int32, Int32, Int32.)	Writes data synchronously to an ADS device and then Reads data from this device.
	TryReadWrite(UInt32, UInt32, .Byte., Int32, Int32, .Byte., Int32, Int32, Int32.)	Writes data synchronously to an ADS device and then Reads data from this device.
	TryReadWrite(UInt32, UInt32, AdsStream, Int32, Int32, AdsStream, Int32, Int32, Int32.)	Writes data synchronously to an ADS device and then Reads data from this device.
	TryWrite(Int32, AdsStream, Int32, Int32)	Writes data synchronously to an ADS device.
	TryWrite(UInt32, UInt32, .Byte., Int32, Int32)	Writes data synchronously to an ADS device.
	TryWrite(UInt32, UInt32, AdsStream, Int32, Int32)	Writes data synchronously to an ADS device.
	TryWriteControl(StateInfo)	Changes the ADS status and the device status of an ADS server.
	TryWriteControl(StateInfo, AdsStream, Int32, Int32)	Changes the ADS status and the device status of an ADS server.
	Write(Int32, Int32)	Trigger Client Method/Command.
	Write(Int32, AdsStream)	Writes data synchronously to an ADS device.
	Write(UInt32, UInt32)	Trigger Client Method/Command.
	Write(Int32, Int32, AdsStream)	Writes data synchronously to an ADS device.
	Write(UInt32, UInt32, AdsStream)	Writes data synchronously to an ADS device.
	Write(Int32, AdsStream, Int32, Int32)	Writes data synchronously to an ADS device.
	Write(Int32, Int32, .Byte., Int32, Int32)	Writes data synchronously to an ADS device.
	Write(Int32, Int32, AdsStream, Int32, Int32)	Writes data synchronously to an ADS device.
	Write(UInt32, UInt32, .Byte., Int32, Int32)	Writes data synchronously to an ADS device.
	Write(UInt32, UInt32, AdsStream, Int32, Int32)	Writes data synchronously to an ADS device.
	WriteAny(Int32, Object)	Writes an object synchronously to an ADS device.
	WriteAny(Int32, Object, .Int32.)	Writes an object synchronously to an ADS device.
	WriteAny(UInt32, UInt32, Object)	Writes an object synchronously to an ADS device.
	WriteAny(UInt32, UInt32, Object, .Int32.)	Writes an object synchronously to an ADS device.
	WriteAnyString(Int32, String, Int32, Encoding)	Writes the string (Potentially unsafe!)
	WriteAnyString(UInt32, UInt32, String, Int32, Encoding)	Writes the string (Potentially unsafe!)
	WriteControl(StateInfo)	Changes the ADS status and the device status of an ADS server.
	WriteControl(StateInfo, AdsStream, Int32, Int32)	Changes the ADS status and the device status of an ADS server.
	WriteSymbol(ITcAdsSymbol, Object)	Writes a value to the symbol. Strings and all primitive data types(UInt32, Int32, Bool etc.) are supported. Array and structures are not supported. If a string is passed as parameter, the method attempts to parse the string according to the ADS data type of the symbol.
	WriteSymbol(String, Object, Boolean)	Writes the passed object value to the specified ADS symbol.The parameter type must have the same layout as the ADS symbol.

Events

	Name	Description
	AdsNotification	Occurs when the ADS device sends a ADS Notification to the client.
	AdsNotificationError	Occurs when a exception has occurred during notification management.
	AdsNotificationEx	Occurs when the ADS devices sends an (extended) notification to the client.
	AdsStateChanged	Occurs when the ADS state changes.
	AdsSymbolVersionChanged	Occurs when the symbol version has been changed changes.
	AmsRouterNotification	Occurs when the state of the local Router has changed.
	ConnectionStateChanged	Occurs when the connection state has been changed.

Extension Methods

	Name	Description
	PollAdsState(IObservable.Unit.)	Overloaded. Gets an observable sequence of AdsStates via Polling. (Defined by AdsClientExtensions.)
	PollAdsState(TimeSpan)	Overloaded. Gets an observable sequence of AdsStates via Polling. (Defined by AdsClientExtensions.)
	PollValues(String, Type, IObservable.Unit.)	Overloaded. Polls the symbol values on timepoints where the polling observable streams data / triggers (Defined by AnyTypeExtensions.)
	PollValues(String, Type, TimeSpan)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	PollValues(String, Type, .Int32., TimeSpan)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	PollValues(String, Type, IObservable.Unit., Func.Exception, Object.)	Overloaded. Polls the symbol values on timepoints where the polling observable streams data / triggers (Defined by AnyTypeExtensions.)
	PollValues(String, Type, TimeSpan, Func.Exception, Object.)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	PollValues(String, Type, .Int32., IObservable.Unit., Func.Exception, Object.)	Overloaded. Polls the symbol values on time points where the polling observable streams data / triggers (Defined by AnyTypeExtensions.)
	PollValues(String, Type, .Int32., TimeSpan, Func.Exception, Object.)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	PollValues.T.(String, IObservable.Unit.)	Overloaded. Polls the symbol values on timepoints where the polling observable streams data / triggers (Defined by AnyTypeExtensions.)
	PollValues.T.(String, TimeSpan)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	PollValues.T.(String, IObservable.Unit., Func.Exception, T.)	Overloaded. Polls the symbol values on timepoints where the polling observable streams data / triggers (Defined by AnyTypeExtensions.)
	PollValues.T.(String, TimeSpan, Func.Exception, T.)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	PollValues.T.(String, .Int32., IObservable.Unit.)	Overloaded. Polls the symbol values on time points where the polling observable streams data / triggers (Defined by AnyTypeExtensions.)
	PollValues.T.(String, .Int32., TimeSpan)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	PollValues.T.(String, .Int32., IObservable.Unit., Func.Exception, T.)	Overloaded. Polls the symbol values on timepoints where the polling observable streams data / triggers (Defined by AnyTypeExtensions.)
	PollValues.T.(String, .Int32., TimeSpan, Func.Exception, T.)	Overloaded. Polls the symbol as value sequence of object values with a specified period time. (Defined by AnyTypeExtensions.)
	WhenAdsStateChanges	Gets an observable sequence of AdsStates. (Defined by AdsClientExtensions.)
	WhenNotification(ISymbol)	Overloaded. Gets an observable sequence of Notifications. (Defined by AdsClientExtensions.)
	WhenNotification(ISymbolCollection)	Overloaded. Gets an observable sequence of Notification objects. (Defined by AdsClientExtensions.)
	WhenNotification(ISymbol, NotificationSettings)	Overloaded. Gets an observable sequence of Notifications. (Defined by AdsClientExtensions.)
	WhenNotification(ISymbolCollection, NotificationSettings)	Overloaded. Gets an observable sequence of Notification objects. (Defined by AdsClientExtensions.)
	WhenValueChanged	Observable sequence of Values driven by ADS Notifications on the specified symbol. (Defined by ValueSymbolExtensions.)
	WriteValues.T.(String, IObservable.T.)	Overloaded. Writes the sequence of values to the symbol specified by the instance path. (Defined by AnyTypeExtensions.)
	WriteValues.T.(String, IObservable.T., Action.Exception.)	Overloaded. Writes the sequence of values to the symbol specified by the instance path. (Defined by AnyTypeExtensions.)

Remarks

IMPORTANT: The Default setting of the Synchronize property has changed to 'false' from Version 4.2.XX on. This has the effect that - by default - the notifications events and are not synchronized into the UI thread anymore. To re enable the obsolete behavior set to 'true'. AdsNotification AdsNotificationEx Synchronize Use an instance of this object to create a point-to-point send/receive connection to an ADS Server/Device object. The class TcAdsClient is a wrapper for the TcAdsdll.dll and enables synchronous/asynchronous access to data of an ADS Device.

Examples

The following sample shows how to instantiate and use the TcAdsClient class.

TcAdsClient Demo

using System;
using System.Threading;

using TwinCAT.Ads;
using TwinCAT.TypeSystem;
using TwinCAT.TypeSystem.Generic;

namespace Sample
{
    class AdsClient
    {
    /// <summary>
    /// Defines the entry point of the application.
    /// </summary>
    /// <param name="args">The arguments.</param>
    static void Main(string[] args)
    {
        AmsAddress address = ArgParser.Parse(args);

        using (TcAdsClient client = new TcAdsClient())
        {
        // Asynchronized access necessary for Console applications
        client.Synchronize = false;

        // Connect to Address
        client.Connect(address.NetId,address.Port); // Connect to Port (851, first PLC by default)

        // Read the identification and version number of the device
        DeviceInfo deviceInfo = client.ReadDeviceInfo();
        Version version = deviceInfo.Version.ConvertToStandard();
        Console.WriteLine(string.Format("DeviceName: {0}", deviceInfo.Name));
        Console.WriteLine(string.Format("DeviceVersion: {0}", version.ToString(3)));

        // Read the state of the device
        StateInfo stateInfo = client.ReadState();
        AdsState state = stateInfo.AdsState;
        short deviceState = stateInfo.DeviceState;
        Console.WriteLine(string.Format("DeviceState: {0}", deviceState));
        Console.WriteLine(string.Format("AdsState   : {0}", state));

        // Write ADS Commands (write state) to target
        // Set PLC to Run

        if (state == AdsState.Stop)
        {
            StateInfo setState = new StateInfo(AdsState.Run, 0);
            client.WriteControl(setState);
        }

        //create variable handle for Plc Project Name (automatic generated symbol in PLC)
        int handleProjectName = client.CreateVariableHandle("TwinCAT_SystemInfoVarList._AppInfo.ProjectName");
        int handleNotification = 0; // Notification Handle for Task1 CycleCount changes

        try
        {
            // Read value from target and Marshal data into string
            using (AdsBinaryReader reader = new AdsBinaryReader(new AdsStream(256)))
            {
            int read = client.Read(handleProjectName, (AdsStream)reader.BaseStream); 
            string projectName = reader.ReadPlcAnsiString(256);
            Console.WriteLine(string.Format("ProjectName  : {0}", projectName));
            }

            _notificationStream = new AdsStream(4); // Sizeof UDINT
            _notificationReader = new AdsBinaryReader(_notificationStream);

            client.AdsNotification += client_NotificationEvent; // Register for Notification event

            //Register Notification for Task1 CycleCount symbol (automatic generated symbol in PLC)
            handleNotification = client.AddDeviceNotification("TwinCAT_SystemInfoVarList._TaskInfo[1].CycleCount", _notificationStream, AdsTransMode.OnChange, 500, 0, null);

            // Sleep 10 Seconds to receive events
            System.Threading.Thread.Sleep(10000); 
        }
        finally
        {
            // Cleanup all handles
            // Dispose all Streams

            client.DeleteDeviceNotification(handleNotification);
            _notificationReader.Close();
            _notificationStream.Close();

            // Always delete all variable handles.
            client.DeleteVariableHandle(handleProjectName);
        }
        Console.WriteLine("");
        Console.WriteLine("Press [Enter] for leave:");
        Console.ReadLine();
        }
    }

Argument Parser

public static class ArgParser
{
    /// <summary>
    /// Parses the arguments.
    /// </summary>
    /// <param name="args">The arguments.</param>
    /// <returns>AmsAddress.</returns>
    public static AmsAddress Parse(string[] args)
    {
    AmsNetId netId = AmsNetId.Local;
    int port = 851;

    if (args != null)
    {
        if (args.Length > 0 && args[0] != null)
        netId = AmsNetId.Parse(args[0]);

        if (args.Length > 1 && args[1] != null)
        port = int.Parse(args[1]);
    }
    return new AmsAddress(netId, port);
    }
}

The following sample shows how to call (Remote Procedures / Methods) within the PLC directly from the TcAdsClient class.

RPC Call Example

namespace Sample
{
    using System;
    using System.Diagnostics;
    using TwinCAT.Ads;
    using TwinCAT.TypeSystem;

    class RpcCallV1Program
    {
    /// <summary>
    /// Defines the entry point of the application.
    /// </summary>
    /// <param name="args">The arguments.</param>
    static void Main(string[] args)
    {
        //Parse the AmsAddress from command-line arguments
        AmsAddress address = ArgParser.Parse(args);

        // Create the ADS Client
        using (TcAdsClient client = new TcAdsClient())
        {
        // Establish Connection
        client.Connect(address);

        // Call a Method that has the following signature (within MAIN Program)

        /*  {attribute 'TcRpcEnable'}
            METHOD PUBLIC M_Add : INT
            VAR_INPUT
            i1 : INT := 0;
            i2 : INT := 0;
            END_VAR 
        */

        short result = (short)client.InvokeRpcMethod("MAIN", "M_Add", new object[] {(short)1, (short)4});

        // Call a Method that has no parameter and returns VOID
        client.InvokeRpcMethod("MAIN", "M_Method1", new object[] {});
        }
    }
    }
}

Reference

TwinCAT.Ads Namespace