This paper proposes a new model-based technique to automatically generate sequence control programs for mechatronics machines from design information. This technique solves one of the bottlenecks in developing mechatronics machines by reducing burdens of software development. In this technique, a sequence control progrmn is generated from a model of the design object represented in a mechanical CAD by searching the physical causalities described by Qualitative Process Theory and by providing geometric information. Based on this technique, we implemented a prototype system named the Sequence Control Program (SCP) Generator which integrates a mechanical CAD and a software generation system. An example of control program generation for a photocopier with the SCP Generator is described.