The invention discloses a CANopen bus communication-based multi-axis coordinated control system and a CANopen bus communication-based multi-axis coordinated control method. The CANopen bus communication-based multi-axis coordinated control system comprises an upper computer, an overall control module, a walking control module, a lifting control module and a sensor acquisition module, wherein the overall control module acquires motion control information and running state information, and transmits corresponding motion instruction information to the walking control module and the lifting control module according to a state information processing result; the walking control module parses the motion instruction information into control information for several motors; the lifting control module performs feedforward PID closed-loop control on motor motion according to a simulated virtual axis; the sensor acquisition module uploads acquired information of sensors to the overall control module at fixed time. The CANopen bus communication-based multi-axis coordinated control system and the CANopen bus communication-based multi-axis coordinated control method are used for solving the problems that existing pulse control is troublesome in wiring, a closed loop cannot be achieved, the reliability is not high, the cooperative control effect is not good, the communication mode between different controllers is disordered and wiring is cumbersome and unstandardized.