My grandson age 7 was recently taken from me raised him basically since birth cps said I did not have legal document now I do can I go take him back

It is possible for a "third party" (such a grandparent) to pursue guardianship, or even temporary or permanent custody of a minor child, but obviuosly the facts are critical.  For back ground and information, see here and here.  But you will probably have to confer with a family law specilist versed in these subjects -- soon -- if you wish to pursue custody of the child.