This is not a standard integration but could be done as a customer specific solution using the existing "Release to CRM" outbound scenario from the C4C Ticket. This generates an outbound A2A message which you can use HCI to then map it to an inbound ERP CS idoc.
As a recommendation, we advice our customers to use the standard C4C Ticketing functionality which can replace the ERP CS functionality for Service Notifications,Service Orders, and Service Confirmations.