To simplify the PMSM driver in multi-legged robot, an intelligent controlling slave station with CAN bus is designed. CANopen communication protocol is used in the system, which communicate with master by CAN bus, and achieves modular package of motor control. By using micro-controller XC164CS as the core, the module can control and monitor the speed and location of the motor and real-time feedback the motor state to the CAN bus. Experiments show that the communication between master and slave is reliable and the motor runs accurately, which meets the requirements of the system.