A multi-module compilation system for generating execution codes for each of a plurality of modules (910, 920,930, 940, 950) included in a module-based robot system, the multi-module compilation system comprising: a graphical user interface configured to allow a user to write a program code by selecting a graphic image and selecting a pre-generated standard code; a module identifier configured to analyze an entire program code of the module-based robot system and to identify at least one of a plurality of target modules that execute the program code to operate the robot system, an event analyzer configured to analyze the program code and to analyze various events occurring in the target modules (1144, 1145), the various events including at least one of a communication data packet transmitted between modules of the module-based robot system, an operation command transmitted from one module to another module, transmission and reception of a message, and change in a specific condition in an operation of a module regardless of another module; a module code generator (120; 1124; 1320) configured to analyze a correlation between a target module identified by the module identifier and an event analyzed by the event analyzer and to divide the entire program code into at least one of module codes for each of the target modules by determining whether the event is related with the target module or not; and a compiler (130; 1126) configured to compile the module codes including a module template code that is basically generated and an additional code that is additionally generated by the code generator to generate execution codes for each one of the plurality of target modules, wherein the user is able to connect and edit object images of a program target module on the display to generate the program code through the graphical user interface. a graphical user interface configured to allow a user to write a program code by selecting a graphic image and selecting a pre-generated standard code; a module identifier configured to analyze an entire program code of the module-based robot system and to identify at least one of a plurality of target modules that execute the program code to operate the robot system, an event analyzer configured to analyze the program code and to analyze various events occurring in the target modules (1144, 1145), the various events including at least one of a communication data packet transmitted between modules of the module-based robot system, an operation command transmitted from one module to another module, transmission and reception of a message, and change in a specific condition in an operation of a module regardless of another module; a module code generator (120; 1124; 1320) configured to analyze a correlation between a target module identified by the module identifier and an event analyzed by the event analyzer and to divide the entire program code into at least one of module codes for each of the target modules by determining whether the event is related with the target module or not; and a compiler (130; 1126) configured to compile the module codes including a module template code that is basically generated and an additional code that is additionally generated by the code generator to generate execution codes for each one of the plurality of target modules, wherein the user is able to connect and edit object images of a program target module on the display to generate the program code through the graphical user interface.