Hey SaraSEO,

This might be a good solution for you - I haven't tried it, but it seems like what you need - sitemap creator that can strip out parameters and follow canonical tags - http://www.inspyder.com/products/SitemapCreator/Default.aspx

Good luck,

Mark

Blocking the pages via robots.txt prevents the spiders from reaching those pages. It doesn't remove those pages from the index if they are already there, it just prevents the bots from getting to them.

If you want these pages removed from your index, and not to impact the size of your index in the search engines, ideally you remove them with the noindex tag.

You can create a template for the titles and metadescriptions of the tags also in Yoast - go to the section of titles, and then in the taxonomies section, you can create a template for titles and meta descriptions. Scroll down to the bottom of the page - you'll see what you can dynamically insert in your template text.