CAN Communnincation

Hello folks,
I have got some Micro controller based IO which has a cpu and Cards for digital input/ digital output/ Analog input / analog output.
It has CAN communication ports i.e CAN high , CAn Low, Can Gnd.
It has setting switch for Node and Baudrate
the controller is quite old and I need to simulate IO channels.
Can it be done via CAN communication to any PLC (particularly I do have a B&R PLC with CAN IF card) .
I hope yes .
What else do we need for this apart from Node no and baudrate ?

Advance thanks for the support

You will probably need an EDS file for the controller to load and map the PDO's in the B&R PLC

Can Communication.

I am afraid if I can get the ESD files.
Is it required for CAN communication or CANOpen Communication.

Are there FB's for same ?

Well what is the make and model of the "micro controller"?

Its a MTU made controller .