I am trying to write script code to align my robot's tcp along the normal of a given plane. I know there is a feature(align tcp) in UR5 which does this job. I want to know if it can be done using script or from programming.

You have answered in the condition when normal is not known. In my case normal is known already.  Only thing needed to be done is align tcp z axis along the normal to approach the robot

If you know the perpendicular, you could create a feature point and move the robot along its direction. You could also orient the robot to have same orientation as the feature point.

Yeah that's what i want. How to orient tcp programmatically

If you when to have the robot with same orientation as a feature, you can do it like this:


Not sure if this will answer your question.

Thanks for the reply. Actually I was having only plane normal. And in movej the last three are rotation vector coordinates. So I was looking for something to convert the plane normal into the rotation vector. Anyways I got my solution by using function "rotationMatrixToVector" in Matlab. I converted my normal vector along with the x & y axis vector into matrix form and then using the above function converted it to rotation vector. I am now able to orient my robot perfectly.