With the development of automation techniques, industrial robots have been developed from independent automation units to standard automatic devices of large-scale automation systems. Although it is necessary to network industrial robots, doing so is very difficult due to the robot's non-open controller. In this article, a server-client model is proposed and a protocol for networked motion control based on G-code is developed to control robots on a network. In this way, industrial robots can be automatically programmed offline using common CAM software.