You start at the high level (pre-command level) where planning occurs, then in the middle level you have the projection level, which creates the instructions, the final level is the segmental level which is the central pattern generation
the cortical association cortex in the high pre-command level creates the idea for voluntary movement, which is communicated to both the cerebellum and the basal ganglia
In the middle projection level rhythmic motor patterns are created, which are communicated via the motor cortex/brain stem
in the low segmental level, which is the spinal cord, relfexes occur
For a good diagram go to slide 10 of the powerpoint "singh motor control"