$ErrorActionPreference = 'Continue'
Add-Type -Path 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
foreach ($port in @(10000, 851)) {
    try {
        $c = New-Object TwinCAT.Ads.TcAdsClient
        $c.Connect('169.254.176.217.1.1', $port)
        $st = $c.ReadState()
        Write-Host "port $port : AdsState=$($st.AdsState) DeviceState=$($st.DeviceState)"
        $c.Dispose()
    } catch {
        Write-Host "port $port : ERR $($_.Exception.Message)"
    }
}