How can I connect twincats between two PC?

Question

I met an error when I test the connection:

Target PC

1. runs windows
2. runs Twincat3 and plc
3. TARGET_PC_ID = "144.214.174.72" and TARGET_AMS_ID = "169.254.42.168.1.1"

Client PC

1. runs windows

2. runs Twincat3

3. Client_PC_ID = "144.214.174.69" and CLIENT_AMS_NET_ID = "144.214.174.69.1.1"

I have set the route on the target PC using Twincat. Here is my python script on Client PC:

import pyads
TARGET_AMS_ID = "169.254.42.168.1.1"
TARGET_PC_ID = "144.214.174.72"
plc = pyads.Connection(TARGET_AMS_ID, 851, TARGET_PC_ID)
plc.open()
print("state",plc.read_state())

But an error happened:

Traceback (most recent call last):
  File "C:/Users/xxwan/Desktop/py_keypoint/test_plc.py", line 14, in <module>
    print("state",plc.read_state())
  File "C:\Users\xxwan\AppData\Local\conda\conda\envs\tensorflow-gpu\lib\site-packages\pyads\connection.py", line 237, in read_state
    return adsSyncReadStateReqEx(self._port, self._adr)
  File "C:\Users\xxwan\AppData\Local\conda\conda\envs\tensorflow-gpu\lib\site-packages\pyads\pyads_ex.py", line 510, in adsSyncReadStateReqEx
    raise ADSError(error_code)
pyads.pyads_ex.ADSError: ADSError: target machine not found    Missing ADS routes (7). 

Whether I need to add route on my client PC (Similar to that on the target PC)? BTW, how to get the real port number on the target PC?