5 Connecting the PLC to the gateway using CODESYS5.3 Configuring the system with XSOFT-CODESYS-3Gateway XN-312-GW-CAN06/16 MN050003-ENwww.eaton.eu61▶Now use the "PLC_PRG in" drop-down menu to select the programminglanguage you want, e.g., "Ladder Logic Diagram (LD)".Figure 37:Configuring a standard project▶Confirm the PLC information being displayed by clicking on "OK."The device will be added to the project.5.3.2 Adding the CAN managerFollow the steps below to enable communication via CANopen:▶In the "Devices" pane on the left, select the device you added previously,e.g., "Device (XC-152)".▶Right-click on it to open the context menu and select the Device...> option.The "Add Device" dialog box will appear. You can leave the dialog box open.▶Expand the "CANbus" node under the "Fieldbusses" node. Select "CAN-bus" and click on "Add Device."The field bus will be added to the configuration structure.Figure 38:Configuration structure with bus system selected▶Right-click on "CANbus (CANbus)" and select the option.The "Add Device" dialog box will appear if it is not open already.▶Expand the "CANopen" node under the "Fieldbusses" node. Then expandthe "CANopenManager" node, select "CANopen Manager," and click on"Add Device."
