With rapid improvement in information and communication technologies, industrial automation systems are under the revolution. Legacy industrial automation systems lack flexibility and interoperability due to multi-layered architecture. From industrial cyber-physical system point of view, a new system architecture is needed to allow vertical and horizontal integration between all devices and systems from enterprise level to sensor level. In this paper, a RESTful service-oriented architecture is proposed for industrial controllers. By adopting RESTful services over HTTP methods, better efficiency for data acquisition from sensors, actuators, and controllers is achieved. In addition, service-oriented device management for industrial controllers is also implemented along with data acquisition. The reference architecture experiments on a car manufacturing demonstration line