Fresh yogurt is packed while it is still milk. A conveyor belt transports depending on size, 1, 2 or 4 empty cups per step. In every step the cups are sterilized, filled, closed, marked (exp date) and tested. Once filled, cups must move two steps before closed by an aluminium foil. Transporting open top liquid, requires extra smooth movements. Filling up the cups is done by syringe moved by servo. First few ml of milk on the empty bottom of the cup must be slow to avoid split drops of milk on the surface where the foil is glued. The rest milk must be filled up fast but not fast enough because of bubbling.