Hi Jose and welcome to the forum.
My experience with TwinCAT, especially if you come from a different PLC system, is that it is a bit difficult to get the basic working. After you achieve this, then it is usually very smooth. Be aware that the error description are cryptic and a bit of "germanized" English, if this is a word. When I was learning I was baffled by the help files and the never-ending Beckhoff Automation related acronyms.
If you cannot run TwinCAT on the same PLC where the runtime is working then be careful with the routing tables.
And make sure you select the correct version of the PLC in the TwinCAT project.
Also, in order to get better support from the forum, it helps to describe the issue a bit more thoroughly, adding screenshots.
Good luck.