The rapid integration and replacement of components in the pipelining mechatronic systems causing the frequent change of code for component behavior cooperation brings in the bottleneck of development process. Dedicated tools demand explicit design on computation or planning states, which means that it is lack of an automation tool towards component behavior cooperation in pipelining mechatronic systems. Using the entity-flow model, this paper addresses the formal descriptions of the material safety processing conditions firstly; secondly, designs a set of action available for planner, in which actions are not only easy to translate to component instructions, but also to indicate the changes of system states; finally, a case of behavior cooperation automatic generation for two components in a bank card personalization machine is illustrated.