This project deals with a motion kit composed by a central PLC, two servodrives and servomotors, 2 photocells, an HMI and different amounts and types of inputs and outputs. By the use of this hardware, the different possibilities of control going further than a classic velocity/frequency are evaluated, and it is also able to control other variables as position and torque. To show the capabilities of servomotors, first we would focus on every control individually and then we would mix all of them in a real motion project: packaging. To integrate these possibilities in our real hardware the vertical packaging machine has been chosen, which fits the hardware at the Omron Learning Kit in most parts.