Robinson (pictured) moved to the UK two years ago to head up the project to build and commission the £115m plant, which began production last summer.

He will return to a US position with Bertelsmann Arvato Print, a subsidiary of the German Bertelsmann media group, which owns part of the Prinovis gravure group.

Robinson’s leaving date has not been announced, although Prinovis has revealed that chief executive Stephan Krauss will act as provisional managing director of the site following Robinson’s departure.

Robinson said he and his wife wanted to return to the US to be closer to their families and allow their children to go to high school there. He said: “This is not an easy step for me to take, especially since I haven’t yet completed my tasks here in Liverpool.”

Krauss said: “Losing Bob Robinson means losing an exceptional manager in our team. I regret, yet respect, his decision to make his family his first priority.

“I particularly thank him for his dedicated work on establishing our Liverpool location, and I am glad that his ties with Bertelsmann will continue.”