Robot task program is needed to control and manage a Robot without explicitly describing the robot program by user which includes commands, procedures, geometric and signal data in the detail level. To use the Robot task program, a computer system is required to convert the Robot task into the Robot program, which can be understood by the Robot. In this paper, the systemic method for automatic generation of explicit Robot programs (ERP) from task-level commands is described. Specifically, a 3-step procedure including Robot task decomposition, task synchronization and ERP generation is presented.