The precision Z-theta motion within one small actuator, providing a convenient pick, orient and place. A wide variety of linear rotary actuators are offered with either direct drive or gearbox equipped rotary units. The vacuum-built-in shaft through the rotary motor is available for some models to prevent dust build-up in the unit. These z-theta actuators can easily be programmed to control force/torque, position and velocity in all axes at the same time with feedback capability. SMAC's unique, patented "Soft-Land" function enables the unit to gently land on a delicate component with a controlled force to avoid damage of both the component and the actuator.