I need a TIA Portal project that handles all PLC programming for an S7-1500 controlling a robotic cell. The mechanical side is already in place; what is missing is structured, well-documented ladder or structured text logic that manages motion coordination, I/O handling, safety interlocks, and fault diagnostics. I will supply the tag list, network layout, and the robot controller’s handshake requirements. Your task is to build the PLC program in TIA Portal (current V18) and return the complete project archive along with a short commissioning guide. Please keep the code modular so later changes—such as adding stations or extra safety zones—are straightforward. Acceptance will be based on: • Program opens without errors in TIA Portal V18 • All handshakes pass my PLC-sim test bench • Commented blocks and a clean symbol table If you have experience integrating KUKA or Fanuc robots, mention it; that knowledge will help streamline the handshake section.