Ethernet to CAN adapter

I am attempting to integrate the IQAN system (MD4) with a motion logic controller (Rexroth CML75) that uses Ethernet IP.  The IQAN system will handle the basic machine and diesel functions, while the MLC will handle the more complex motion control.  I need to communicate between the two and I am trying to setup an Ethernet IP to CAN gateway.  The issue I am having is that the gateway configuration software requires an .eds file for all CAN devices.  Does anyone know of a way to setup this communication or generate such a file from the Parker system; or possibly use a different ethernet gateway (currently using Anybus X-gateway Master/Slave -Ethernet IP - # AB7306-B)?