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Aiming at the open requirements of industrial robot control systems, according to PLCopen specification, motion control function blocks are designed for six-axis industrial robots. Based on CodeSys software development environment, combined with the arrays, structures and function blocks in the SMC_CNC library, a few of motion control function blocks are developed using IEC61131-3 programming languages for a six-axis industrial robot, including coordinate transformation, forward and reverse kinematics transformation, linear and circular interpolation motion, etc. On this basis, a series of robotic motion control commands and visual programming interfaces are developed. Finally, taking the Eroft ER50 six-axis industrial robot as experimental objects, and adopting to the developed robotic motion controller, robotic programming control experiments are implemented. The results show that the developed motion control function blocks and commands met the design requirements.