Linear Actuator run time

Hi

What I would like to do is run 5 linear actuators (already have a 16 relay board) when I press a button on a Nextion screen (not a physical button)for example

Actuator 1.Run for 6 seconds
Actuator 2.Run for 6 seconds
Actuator 3.Run for 3 seconds
Actuator 4.Run for 3 seconds
Actuator 5.Run for 3 seconds

I should be able to set up the pin connections from the arduino to the relay board and declare the pin values, then set them to outputs but because the actuators will only have a fully extended and fully retracted limit switches I would like to control the distance they move by time(seconds)

Thanks
Andy