Duane Holmes, Harry Bunn and substitute Jake Charles all hit the target alongside Northern Ireland international Oliver Norwood.
"They were very good; their ability was there for everyone to see," Robins told the club's official website.
"You can see there is an ethos and way of doing things running throughout the club now, which is really pleasing; it's taken 12 months to get to this stage.
"That's testament to all the work that is going on at the club and the players that we are recruiting."
Guiseley held Huddersfield to a 2-2 draw around this time last year, so the omens look good for Town to improve on last season's 17th-placed finish in the Sky Bet Championship.
"It was a really good workout," added Robins. "I thought all the lads that played were excellent; they put a good shift in, ran well and passed the ball well."
Robins reported that Oscar Gobern (toe), Danny Ward (hamstring), Sean Scannell (groin) and Anthony Gerrard (calf) were all carrying knocks.