Align Z to Nearest Axis

Description

Align Z to Nearest Axis finds the nearest axis of a frame and align the TCP z-axis to that. This functionality is used to align the robot's tool to already existing frames. You can change which frame the robot aligns to by changing the frame in the Relative To field.

Example

If you have a gripper and want to pick up an item, use this smart skill in order to have the robot actually move around in a predefined pattern in order to figure out where is the item positioned and what is the center of that. In this way, you can then center the robot.