Precaution for 4-axis Robot Posture

For a 4-axis robot, set the approach vector of target posture to a downward direction from the flange as shown below.

• For P-type (Position Type), set the Rx element to 180 degree, Ry elements to 0 degree.
• For T-type (Homogeneous Translation Type), set the approach vector to V(0,0,-1) .

Unless you set other than above, error "0x83201525L：Destination posture is not realizable in this robot type" occurs and operation cannot be performed.