Design a PLC control system to perform asynchronous control on a two$-$axis modular robot. Each axis $($AX$-1$ or AX$-2)$ is driven by a pneumatic cylinder. An output signal to the pneumatic cylinder causes it to extend $($ON state$).$ When there is no signal, the pneumatic cylinder retracts $($OFF state$).$ The gripper GP$-3$ is also driven by a pneumatic cylinder. The gripper open position is an OFF state and the closed position is an ON state. The process begins when the START push button is ON and a part triggers a limit switch LS$.$ To perform the task, the following sequence of operations must be performed $($with the correspondent duration of each operation shown in the table$)$:

Design a PLC control system to perform asynchronous control on a two$-$axis modular robot. Each

axis $($AX$-1$ or AX$-2)$ is driven by a pneumatic cylinder. An output signal to the pneumatic cylinder

causes it to extend $($ON state$).$ When there is no signal, the pneumatic cylinder retracts $($OFF state$).$

The gripper GP$-3$ is also driven by a pneumatic cylinder. The gripper open position is an OFF

state and the closed position is an ON state. The process begins when the START push button is

ON and a part triggers a limit switch LS$.$ To perform the task, the following sequence of operations

must be performed $($with the correspondent duration of each operation shown in the table$)$:

Construct a PLC ladder diagram for the control of the automatic two$-$axis modular robot. Clearly

define all the necessary inputs, outputs, and$/$

or other elements you need to use in the automated

control system.