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hello, you can read and write from the beckhoff PLC through this amazing package, but first make sure to download the beckhoff TwinCAT Modbus TCP Server‏ and set the port to 502 (usually when you download this tool it is 502 by default). you can download the tool from this link:

i am pretty sure it will work to interface with beckhoff PLC, but i still didnt try it yet, i will try it today and keep you updated.

Good luck