A PLC is used to control a single-axis robot, in which the axis 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 is an also driven by a pneumatic cylinder. The gripper open position is an OFF state and the closed position is an ON state. In order to perform a task, the following sequence of operations must be performed: Sequence No. Axis Gripper OFF OFF 1 ON OFF ON ON 3 OFF ON 4 OFF OFF The process begins when the start bush button is ON and a part triggers a limit switch. For safety, an emergency switch is used to shut off the entire system. Design a PLC ladder diagram for this application.

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