In a standard setup, if the robot is jogged in the positive Z direction, which way does the TCP move?

When a robot is jogged in the positive Z direction, the Tool Center Point (TCP) moves away from the base of the robot. In most industrial robots, the Z-axis typically represents the vertical axis, where positive movement indicates an upward or outward motion relative to the robot's base. Therefore, jogging in the positive Z direction means that the TCP is being moved farther away, which can be conceptualized as extending the reach of the robot upwards or outwards from its initial position at the base. This is fundamental to understanding how the robot's coordinates are set up, as they usually follow a right-hand rule pertaining to their axes.