In addition to efficient code generation, causality cycles and schizophrenic statements are major problems for the compilation of synchronous programs. Although these problems are already solved by existing compilers, there is still a need for clean and efficient compilation techniques. In this paper, we describe a complete and efficient compilation of programs from the Esterel family to equivalent equation systems. Our translation is even able to solve schizophrenia problems for data flows with delayed statements. The overall compilation runs in time quadratic to the length of the program and has been formally verified with the HOL theorem prover.