This paper expounds the high-level protocol CANopen and studies the function and setting of CANopen master-slave node.Combined with the actual reconnaissance arm multi-motor motion control system,this paper constructs the CANopen master-slave node,develops the CAN bus high-level communication protocol CANopen based on STM32F407 microcontroller,completes the system software and hardware design,and realizes the real-time control of multi motor system based on CANopen protocol.This control mode has strong on-line controllability,scalability and universality.