Robotic systems at CERN are regularly used for inspection, maintenance and repair tasks. They can be used for many different applications in different configurations, that may require quick system changes and setup. The operation of these robotic systems relies on precise low-level control and real-time communication, using protocols like CANopen and EtherCAT. The previously used CANopenDevices library at CERN was limited in its modularity, error handling and overall documentation. This paper introduces the CANopenDrivers library, a comprehensive and adaptable framework for motor control for robotic systems. Incorporating features from Lely CANopen and SOEM libraries, the CANopenDrivers library supports CANopen over CAN (CoC) and EtherCAT (CoE) protocols while following the CiA 402 standard. Testing on diverse robotic platforms demonstrated its robust functionality, versatile operating modes, and compatibility with different driver configurations. This development further enables high-performance robotic systems for maintenance and operation in CERN’s accelerator facilities.