TwinCAT Client Subscribing to External ADS Server

[thangnguyen111]

Hi Beckhoff team,
I’m working on a robot simulation project using TwinCAT 3 as an ADS client to receive real-time data (e.g., "MAIN.robot_status") from an external pyads AdsTestServer. I want to use notifications instead of polling but couldn’t find a specific FB like "ADSADDSYMLNOTIFY".

Questions:

1. Does TwinCAT PLC support subscribing to notifications from an external ADS server? If yes, please provide a PLC code example.
2. If not supported in PLC, are there APIs (e.g., TcAdsDll, TcAdsClient) for this? Please share documentation/examples.
3. Is pyads compatible with TwinCAT notifications?

Thanks for your support!