diff --git a/.gitignore b/.gitignore
index f073c90..8efc3ae 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,6 +44,7 @@ build/
 bld/
 [Bb]in/
 [Oo]bj/
+[Ii]nstall/
 
 # Visual Studo 2015 cache/options directory
 .vs/
diff --git a/AdsLibTestRef/main.cpp b/AdsLibTestRef/main.cpp
index ed20966..2b42e7e 100644
--- a/AdsLibTestRef/main.cpp
+++ b/AdsLibTestRef/main.cpp
@@ -15,10 +15,12 @@ using USHORT = unsigned short;
 #define TCADSDLL_API
 #define TCADSDLL_EXPORT
 #define NULL nullptr
-#define AMSPORT_R0_PLC_TC3 851
 #else
 #include <Windows.h>
 #endif
+
+#define AMSPORT_R0_PLC_TC3 851
+
 #include <TcAdsDef.h>
 #ifndef GLOBALERR_TARGET_PORT
 #define GLOBALERR_TARGET_PORT 0x06
diff --git a/README.md b/README.md
index cef41cf..1fdac4f 100644
--- a/README.md
+++ b/README.md
@@ -98,6 +98,14 @@ ninja -C example/build
 # and run the example
 ./example/build/example
 ```
+## On Windows with TwinCAT installed (PowerShell)
+```ps1
+mkdir build && cd build
+# Use TcAdsDll_ROOT if AdsApi is installed somewhere in a different location
+# Here it is taken from the TWINCAT_ADS_API_ROOT environment variable
+cmake -DTcAdsDll_ROOT="$TWINCAT_ADS_API_ROOT" ..
+cmake --build . --config Release --parallel ((Get-CimInstance –ClassName Win32_Processor).NumberOfLogicalProcessors | Measure-Object -Sum).Sum
+```
 
 Note: the name of the binaries which use the TwinCAT ADS Router have a different naming scheme
 
diff --git a/cmake/FindTcAdsDll.cmake b/cmake/FindTcAdsDll.cmake
index ee44c0a..c6e120e 100644
--- a/cmake/FindTcAdsDll.cmake
+++ b/cmake/FindTcAdsDll.cmake
@@ -20,17 +20,24 @@ if (NOT WIN32)
     message(WARNING "FindTcAdsDll.cmake only tested on WINDOWS")
 endif ()
 
-if (WIN32)
+if (DEFINED TcAdsDll_ROOT)
+    set(_TcAdsDll_PATH "${TcAdsDll_ROOT}")
+endif ()
+
+if (WIN32 AND NOT DEFINED TcAdsDll_ROOT)
     # Typical install locations on Windows
-    set(_TcAdsDll_PATH "$ENV{SystemDrive}/TwinCAT/AdsApi/TcAdsDll")
+    list(APPEND _TcAdsDll_PATH
+        "$ENV{SystemDrive}/TwinCAT/AdsApi/TcAdsDll" # Old location (TwinCAT < 3.5)
+        "$ENV{ProgramFiles\(x86\)}/Beckhoff/TwinCAT/AdsApi/TcAdsDll" # New location (TwinCAT 3.5+)
+    )
 else ()
-    # TODO: Linux not tested. Set additional known default locations to search.
     set(_TcAdsDll_PATH)
 endif ()
 # Find the include headers
+
 find_path(TcAdsDll_INCLUDE_DIR
         NAMES TcAdsApi.h TcAdsDef.h
-        PATHS "${_TcAdsDll_PATH}"
+        PATHS ${_TcAdsDll_PATH}
         PATH_SUFFIXES "Include" "include"
 )
 # Find all related files base on the include files location. This is done
@@ -39,41 +46,56 @@ find_path(TcAdsDll_INCLUDE_DIR
 if (WIN32)
     cmake_path(GET TcAdsDll_INCLUDE_DIR PARENT_PATH TcAdsDll_ROOT_DIR)
     if (NOT TcAdsDll_FIND_QUIETLY)
-        message(STATUS "Looking for TcAdsDll in ROOT ${TcAdsDll_ROOT_DIR}")
+        message(STATUS "Searching TcAdsDll in ROOT ${TcAdsDll_ROOT_DIR}")
     endif ()
     if (CMAKE_SIZEOF_VOID_P EQUAL 8)
-        set(TcAdsDll_IMPLIB_DIR "${TcAdsDll_ROOT_DIR}/x64/lib")
-        set(TcAdsDll_DLL_DIR "${TcAdsDll_ROOT_DIR}/x64")
+        list(APPEND TcAdsDll_IMPLIB_DIR 
+            "${TcAdsDll_ROOT_DIR}/x64/lib" # Old location (TwinCAT < 3.5)
+            "${TcAdsDll_ROOT_DIR}/Lib/x64" # New location (TwinCAT 3.5+)
+        )
+        list(APPEND TcAdsDll_DLL_DIR 
+            "${TcAdsDll_ROOT_DIR}/x64"
+            "${TcAdsDll_ROOT_DIR}/../../Common64"
+        )
     elseif (CMAKE_SIZEOF_VOID_P EQUAL 4)
-        set(TcAdsDll_IMPLIB_DIR "${TcAdsDll_ROOT_DIR}/Lib")
-        set(TcAdsDll_DLL_DIR "${TcAdsDll_ROOT_DIR}")
+        list(APPEND TcAdsDll_IMPLIB_DIR 
+            "${TcAdsDll_ROOT_DIR}/lib" # Old location (TwinCAT < 3.5)
+            "${TcAdsDll_ROOT_DIR}/Lib" # New location (TwinCAT 3.5+)
+        )
+        list(APPEND TcAdsDll_DLL_DIR 
+            "${TcAdsDll_ROOT_DIR}"
+            "${TcAdsDll_ROOT_DIR}/../../Common32"
+        )
     endif ()
-    # Use NO_DEFAULT_PATH so that we only look in the provided location. If not set
-    # the find_library will find the 32 bit version first regardless of the config
-    # which leads to errors.
     find_library(TcAdsDll_IMPLIB
-            NAMES TcAdsDll
-            PATHS "${TcAdsDll_IMPLIB_DIR}"
+            NAMES TcAdsDll.lib
+            PATHS ${TcAdsDll_IMPLIB_DIR}
             NO_DEFAULT_PATH
     )
     find_file(TcAdsDll_LIBRARY
             NAMES TcAdsDll.dll
-            PATHS "${TcAdsDll_DLL_DIR}"
+            PATHS ${TcAdsDll_DLL_DIR}
             NO_DEFAULT_PATH
     )
 else ()
-    # TODO: Linux not tested. We just try to look for the library by name.
     find_library(TcAdsDll_LIBRARY
             NAMES TcAdsDll
     )
 endif ()
 
-
 include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(TcAdsDll
+
+if (WIN32)
+    find_package_handle_standard_args(TcAdsDll
+        REQUIRED_VARS TcAdsDll_INCLUDE_DIR TcAdsDll_LIBRARY TcAdsDll_IMPLIB
+        VERSION_VAR TcAdsDll_VERSION
+    )
+else ()
+    find_package_handle_standard_args(TcAdsDll
         REQUIRED_VARS TcAdsDll_INCLUDE_DIR TcAdsDll_LIBRARY
         VERSION_VAR TcAdsDll_VERSION
-)
+    )
+endif ()
 
 if (NOT TcAdsDll_FOUND)
     if (NOT TcAdsDll_FIND_QUIETLY)