I am installed the Word Highlight With Margin , but it looks like not works with TwinCAT 3 text editor (ST) , any other way I can achieve that ?
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The text editor of twincat ST is not based on the text editor of Visual Studio. You can see this when you change the color settings to dark mode. The twincat editor does not change.
So it is not possible to use standard text editor plugins for Visual Studio inside the twincat ST editor as they plug into only the VS editor.

Uwe Hafner
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Word highlight is a feature to be added in TwinCAT 3.1.4026 (along with dark mode!).

Jacek Domański
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Is that version released ? I can't find on beckhoff Website – robinshion Jul 31 '21 at 15:27
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@robinshion Not yet, as far as I know. It should be available this year, but the release date was not announced yet. – Jacek Domański Jul 31 '21 at 16:43