Connection between Matlab and Codesys

I am trying to connect the two softwares in order to send to variables from Matlab to Codesys. The connection is stable using Simulink but I don't know how to do using Matlab.

I have already tried using:

Server=opcua('localhost',%portnumber);
connect(Server);

Error using opc.ua.Client/fetchEndpoints (line 610)
The server has disconnected from the client.

Error in opc.ua.Client/connect (line 457)
                            errorCode = clnt.fetchEndpoints;
                         

So above we have the error that appear.

Someone has already estabilished a connection?