Beckhoff.TwinCAT.Ads.TcpRouter 6.0.164

.NET 6.0 .NET Core 3.1 .NET Standard 2.0 .NET Framework 4.6.1
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NuGet\Install-Package Beckhoff.TwinCAT.Ads.TcpRouter -Version 6.0.164
This command is intended to be used within the Package Manager Console in Visual Studio, as it uses the NuGet module's version of Install-Package.
dotnet add package Beckhoff.TwinCAT.Ads.TcpRouter --version 6.0.164
<PackageReference Include="Beckhoff.TwinCAT.Ads.TcpRouter" Version="6.0.164" />
For projects that support PackageReference, copy this XML node into the project file to reference the package.
paket add Beckhoff.TwinCAT.Ads.TcpRouter --version 6.0.164
#r "nuget: Beckhoff.TwinCAT.Ads.TcpRouter, 6.0.164"
#r directive can be used in F# Interactive, C# scripting and .NET Interactive. Copy this into the interactive tool or source code of the script to reference the package.
// Install Beckhoff.TwinCAT.Ads.TcpRouter as a Cake Addin
#addin nuget:?package=Beckhoff.TwinCAT.Ads.TcpRouter&version=6.0.164

// Install Beckhoff.TwinCAT.Ads.TcpRouter as a Cake Tool
#tool nuget:?package=Beckhoff.TwinCAT.Ads.TcpRouter&version=6.0.164


The package 'Beckhoff.TwinCAT.Ads.TcpRouter' implements a lean TCP ADS Router class to use on systems where no standard TwinCAT router is established or available.

It is running in UserMode only (no realtime characteristics) and contains no further functionality than distributing the ADS Frames (e.g. no Port 10000, no ADS Secure). It is just used to route ADS frames locally between AdsServers and to/from remote ADS devices.

Implemented in asynchronous .NET Code it can be run in your own services/daemon, as standalone console application and also in your customized application.


  • .NET 6.0, .NET Core 3.1, .NET Framework 4.61 or .NET Standard 2.0 compatible SDK or later.
  • No other System allocating the same port (e.g. a regular TwinCAT installation).
  • Installed Nuget package manager or Dotnet CLI.


Along with the deployment of the application where the TcpRouter is implemented, a valid Router / ADS configuration must be placed to specify the Local Net ID, the name and the default port of the Router system.

The preferred way to configure the system is with standard Configuration providers, which are part of the .NET Core / ASP .NET Core infrastructure.

See further information:

This enables common options for application configuration that can be used 'out-of-the-box':

  • Via the file appsettings.json
  • With the StaticRoutesConfigurationProvider (StaticRoutes.xml)
  • Using Environment Variables.
  • Command line arguments
  • etc.

The configuration has to be loaded during application startup and is placed into the 'TwinCAT.Ads.TcpRouter.AmsTcpIpRouter' class via constructor dependency injection and must contain the following information:

  • The name of the local System (usually the Computer or Hostname)
  • The Local AmsNetId of the local system as Unique Address in the network
  • Optionally the used TcpPort (48898 or 0xBF02 by default)
  • The static routes in the 'RemoteConnections' list.
  • Logging configuration.

Actually the configuration is not reloaded during the runtime of the 'TwinCAT.Ads.TcpRouter.AmsTcpIpRouter' class. Please be aware that the "Backroute" from the Remote system linking to the local system (via AmsNetId) is necessary also to get functional routes.

Example for a valid 'appSettings.json' file (please change the Addresses for your network/systems.)

  "AmsRouter": {
    "Name": "MyLocalSystem",
    "NetId": "",
    "TcpPort": 48898,
    "RemoteConnections": [
        "Name": "RemoteSystem1",
        "Address": "RemoteSystem1",
        "NetId": "",
        "Type": "TCP_IP"
        "Name": "RemoteSystem2",
        "Address": "",
        "NetId": "",
        "Type": "TCP_IP"
  "Logging": {
    "LogLevel": {
      "Default": "Information",
      "System": "Information",
      "Microsoft": "Information"
    "Console": {
      "IncludeScopes": true

Alternatively a "StaticRoutes.Xml" Xml File can configure the system equally. Don't forget to add the 'StaticRoutesXmlConfigurationProvider' to the Host configuration during startup (see FirstSteps below).

An example of the local "StaticRoutes.xml" is given here:

<?xml version="1.0" encoding="utf-8"?>
<TcConfig xmlns:xsi="" xsi:noNamespaceSchemaLocation="C:\TwinCAT3\Config\TcConfig.xsd">

Alternatively, the configuration can also be set via Environment variables.

PS> $env:AmsRouter:Name = 'MyLocalSystem'
PS> $env:AmsRouter:NetId = ''
PS> $env:AmsRouter:TcpPort = 48898
PS> $env:AmsRouter:RemoteConnections:0:Name = 'RemoteSystem1'
PS> $env:AmsRouter:RemoteConnections:0:Address = 'RemoteSystem1'
PS> $env:AmsRouter:RemoteConnections:0:NetId = ''
PS> $env:AmsRouter:RemoteConnections:1:Name = 'RemoteSystem2'
PS> $env:AmsRouter:RemoteConnections:1:Address = ''
PS> $env:AmsRouter:RemoteConnections:1:NetId = ''
PS> $env:AmsRouter:Logging:LogLevel:Default = 'Information'
PS> dir env: | where Name -like AmsRouter* | format-table -AutoSize

Name                                  Value
----                                  -----
AmsRouter:Name                        MyLocalSystem
AmsRouter:TcpPort                     48898
AmsRouter:RemoteConnections:0:Name    RemoteSystem1
AmsRouter:RemoteConnections:0:Address RemoteSystem1
AmsRouter:RemoteConnections:1:Name    RemoteSystem2
AmsRouter:Logging:LogLevel:Default    Information

Version Support lifecycle

Package Description .NET Framework TwinCAT Active Support
6.x Actual package supporting .NET 6.0 net6.0, netcoreapp3.1, netstandard2.0, net461 >= 3.1.4024.10 [^1] X
5.x Package supporting .NET 5.0[^3] net5.0, netcoreapp3.1, netstandard2.0, net461 >= 3.1.4024.10 [^1]
4.x Package basing on .NET Framework 4.0 net4 All X

[^1]: Requirement on the Host system. No version limitation in remote system communication.

[^2]: Microsoft support for .NET5 ends with May 8, 2022. Therefore it is recommended to update Beckhoff.TwinCAT packages from Version 5 to Version 6.

Migrate from ASP.NET Core 5.0 to 6.0

migrating to the latest .NET Microsoft .NET support lifecycle

First Steps

Example of starting the TcpIpRouter from a simple Console application with logging.

using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Hosting;

namespace TwinCAT.Ads.AdsRouterService
    class Program
        public static void Main(string[] args)

        public static IHostBuilder CreateHostBuilder(string[] args) =>
                .ConfigureServices((hostContext, services) =>
                .ConfigureAppConfiguration((hostingContext, config) =>
                    // Uncomment to overwrite configuration
                    //config.Sources.Clear(); // Clear all default config sources 
                    //config.AddEnvironmentVariables("AmsRouter"); // Use Environment variables
                    //config.AddCommandLine(args); // Use Command Line
                    //config.AddJsonFile("appSettings.json"); // Use Appsettings
                    //config.AddStaticRoutesXmlConfiguration(); // Overriding settings with StaticRoutes.Xml 
                .ConfigureLogging(logging =>
                    // Uncomment to overwrite logging
                    // Microsoft.Extensions.Logging.Console Nuget package
                    // Namespace Microsoft.Extensions.Logging;
public class RouterWorker : BackgroundService
    private readonly ILogger<RouterWorker> _logger;

    public RouterWorker(ILogger<RouterWorker> logger)
        _logger = logger;

    protected override async Task ExecuteAsync(CancellationToken cancel)
        AmsTcpIpRouter router = new AmsTcpIpRouter(_logger);

        //Use this overload to instantiate a Router without support of StaticRoutes.xml and parametrize by code
        //AmsTcpIpRouter router = new AmsTcpIpRouter(new AmsNetId(""), AmsTcpIpRouter.DEFAULT_TCP_PORT, _logger);

        await router.StartAsync(cancel); // Start the router

Further documentation

The actual version of the documentation is available in the Beckhoff Infosys. Beckhoff Information System

Sample Code

Beckhoff GitHub RouterSamples

Product Versions
.NET net5.0 net5.0-windows net6.0 net6.0-android net6.0-ios net6.0-maccatalyst net6.0-macos net6.0-tvos net6.0-windows
.NET Core netcoreapp2.0 netcoreapp2.1 netcoreapp2.2 netcoreapp3.0 netcoreapp3.1
.NET Standard netstandard2.0 netstandard2.1
.NET Framework net461 net462 net463 net47 net471 net472 net48
MonoAndroid monoandroid
MonoMac monomac
MonoTouch monotouch
Tizen tizen40 tizen60
Xamarin.iOS xamarinios
Xamarin.Mac xamarinmac
Xamarin.TVOS xamarintvos
Xamarin.WatchOS xamarinwatchos
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Mocking a TwinCAT Ads Server, for unit testing code with ADS read/write requests.

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Version Downloads Last updated
6.0.194 108 9/12/2022
6.0.190 1,067 8/10/2022
6.0.187 768 7/21/2022
6.0.164 234 7/7/2022
6.0.155 219 6/23/2022