hey,
I have used modbus to Can gateways, one from EATON, with this you have to write down the code and you have to understand both comm protocol otherwise becomes a headache. after all it did work fine.
the last one I used was from Pyramid technologies and it was modbus to J1939 for hazardous locations, this is really nice simple to use it is a little price because of the certs
I do have some from anybus but for some reason I did not make it work, have not tried anymore but the key is to understand both comm protocols, for sure you undestand CAN.
I hope this helps