Rexroth is programmed with Indralogic and it is Codesys V2.3. CML25 has several communication options (Ethernet, Sercos, Profibus...) depending of CPU model.
Your existing code in both Rexroth and AB can be protected and out of your reach.
There is solution for problem, but it requires competence ( and that means money), and judging buy the question you asked I advise you to outsource project.