Examples are valid for:
CB2 Software version: All versions
CB3 Software version: All versions
e-Series Software version: All versions
Note that older or newer software versions may behave differently.

These examples can be used for both CB2, CB3 and e-Series.

Operator wants to rotate only wrist 2 depending on a value inputted by the operator.

How to accomplish this:
jp = is the angular value of Waypoint_1.
rotation = is amount of degrees to rotate, typed in by user.
r = is degrees converted to radians. This code is not avalable in all software version and the calculation: (degree/180)*3.14149262 need to be used.
Finally a movej() script code is used for rotating only a single joint relative to Waypoint_1, in this case it is wrist 2 that is rotated.