#Requires -RunAsAdministrator
#Requires -Version 5.1
$ErrorActionPreference = 'Continue'
$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
Add-Type -Path $adsDll -ErrorAction Stop
$c = New-Object TwinCAT.Ads.TcAdsClient
$c.Connect('169.254.176.217.1.1', 851)
function ReadSym($name, $type) {
    try {
        $h = $c.CreateVariableHandle($name)
        $v = $c.ReadAny($h, $type)
        $c.DeleteVariableHandle($h)
        return $v
    } catch { return "ERR" }
}
Write-Host "nCycles        = $(ReadSym 'GVL_Sync.nCycles' ([uint64]))"
Write-Host "bSync          = $(ReadSym 'GVL_Sync.bSync' ([bool]))"
Write-Host "nMatchLag      = $(ReadSym 'GVL_Sync.nMatchLag' ([int]))  (bridge round-trip, PLC cycles)"
Write-Host "nMismatch      = $(ReadSym 'GVL_Sync.nMismatch' ([int]))"
Write-Host "--- RTT (PLC cycles, 1 cycle = 1 ms) ---"
Write-Host "nRttCycles     = $(ReadSym 'GVL_Sync.nRttCycles' ([int]))"
Write-Host "nRttMin        = $(ReadSym 'GVL_Sync.nRttMin' ([int]))"
Write-Host "nRttMax        = $(ReadSym 'GVL_Sync.nRttMax' ([int]))"
Write-Host "nRttSum        = $(ReadSym 'GVL_Sync.nRttSum' ([int64]))"
Write-Host "nRttCount      = $(ReadSym 'GVL_Sync.nRttCount' ([uint64]))"
Write-Host "--- EL1252 DC latch path delay ---"
Write-Host "nLatchCount    = $(ReadSym 'GVL_Sync.nLatchCount' ([uint64]))"
Write-Host "nLatchDelayMin = $(ReadSym 'GVL_Sync.nLatchDelayMin' ([int])) us"
Write-Host "nLatchDelayMax = $(ReadSym 'GVL_Sync.nLatchDelayMax' ([int])) us"
Write-Host "nLatchDelaySum = $(ReadSym 'GVL_Sync.nLatchDelaySum' ([int64])) ns"
$c.Dispose()