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With the large number of applications in testing and controlling systems and communication systems, the development technology on the Arduino CAN drive module becomes more and more important. How to create CAN drive module on the Simulink environment turn into the key of research. Text is introduced in detail, from designing hardware circuit, creating drive module with embedded matlab function to verifying model using a practical example. As the result from CAN analyzing tool shows the CAN drive module is debugged successfully, it can be used for the system development and integration as communication mode.