Among first steps, Joa upgraded the system's servo drives to Allen-Bradley Kinetix 6000 multi-axis servo drives supplied by Rockwell Automation Inc., Milwaukee, and also upgraded the machine's processor with an Allen-Bradley ControlLogix Programmable Automation Controller (PAC). As part of the Rockwell Automation Integrated Architecture, the ControlLogix PAC eliminated the need for a separate motion controller. Integrating high-speed discrete and motion capabilities on the same platform saved space, improved synchronization and reduced programming requirements.