SCSI DOS drivers are two layered. The lowest layer is a so called ASPI driver, abstracting the SCSI host adapter hardware. On top of that you stack device class drivers for whatever peripheral you're trying to access.
What you need to do is identify the host adapter you have there, pick up the DOS drivers package for it, and follow the installation instructions.
E.g. for an LSI/Symbios/NCR adapter, config.sys will have to have these lines added:
device=aspi8xx.sys
device=symcd.sys /D:CD001
and in autoexec.bat, you load the MS CD expansion on top of that ...
mscdex /D:CD001 /L:R
That'll make the 1st CD drive on your SCSI adapter appear as drive R: in DOS.
Good luck.
Peter