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This paper proposes a method to generate the translational motions of a micro-robot in human blood vessels by utilizing the magnetic gradients of a magnetic navigation system (MNS). The proposed method was applied to the MNS composed of a Maxwell coil, Helmholtz coil, and uniform and gradient saddle coils, and it was verified through the experiment demonstrating the rectilinear and translational motions of a micro-robot in a plane. This paper also discusses the effective aligning angle for the translational motion of a micro-robot to reduce the required magnetic gradients of the MNS. This research contributes to the effective and therapeutic manipulation of a micro-robot in human blood vessels.