A robotic case packing system loads articles from a moving conveying system into a container. The system has a pivot drive shaft pivotally connected to a support frame for selective rotation about a selected axis of rotation and has a drive linkage operatively connected between a servo motor and to the pivot drive shaft to selectively pivot the pivot drive shaft. A two-axis-robot is mounted on the pivot drive shaft along the axis of rotation such that movement of the two-axis-robot along its two axes of movement occurs within planes substantially parallel to the axis of rotation. A controller operatively connected to the servo motor is used to selectively actuate the servo motor to rotate the pivot drive shaft in order to enable selective picking and placing of articles with the robotic case packing system.