I have done a few of ATT IPFlex to Audiocodes SBC integrations with various flavors of PBX/IVR. I have always found their documentation to be crap. Simultaneously way more information that what is needed and lacking critical info on what is needed for a successful TTU. I once went two months where no-one on the ATT side could tell me what IP address/subnet mask the VoIP interface on their router would have, and they refused to have a prep call ahead of the TTU.
In any case, you need to configure your SBC with a dedicated interface to connect directly to the ATT router, they usually have a /29 or /30 network configured on their router. It's a basic NAT traversal setup. The signaling addresses they provide need to be configured as proxies, and you'll probably have to do some manipulations to get OPTIONs, CID and other stuff working.
I think Audiocodes has documentation specifically for IPFlex, so if you have a login, you should start there.