The packaging format ranges from 4 units to 30 units, all the way to the increasingly popular 2×6 frozen packaging format. It relies on 10 Rexroth MKD servo motors with feedback signals, each controlled by a Rexroth DKC servo drive. The PPC master motion controller is also a key component; when running the Visual Motion software, this Sercos-based controller synchronizes all operations of the packaging machine. It also features a DeviceNet network interface and an integrated programmable limit switch (PLS). The 10 servo axes on the packaging machine separately drive the rotary locator, 6 feed star wheels, carton running, cam loader, and height limiter.