The Controller Area Network (CAN) is one of the widely used protocol for intra-vehicle communication between Electronic Control Units (ECUs) which broadens its range of applications for industrial automation field. This paper demonstrates a software framework for motion control performance based on CANopen network emphasizing on testing and verification of systems with a table top setup which can be implemented in an early development phase before the integration. The CAN module delivers modest hardware interface in addition to highly reactive software communication protocol, and therefore can be effortlessly embedded into any systems. Service Data Object (SDO) is chosen as the communication object in CANopen protocol between NUVO-VTC 5104 along with multiple motor drives. Simulation is performed with Visual Studio in windows as well as Linux platform whereas CANopen communication with physical components is realized via stubs written in C++. The aids of multi-axis control with the CANopen protocol for multiple motor drives are higher data rate, reliable transmission of data, stabilization as well as effortless communication topology.