If you need to create a program using Beacon Welding or Beacon Cutting to move any number of individual joints this article will detail out the sequence of steps to use.
Before creating the part in Beacon, move the robot into the position where you want to start from the first position. You can either use the free drive or the robot teach pendant move screen.
Create a part in Beacon as you would for any welding or cutting application; it does not matter what weld or cut library or settings are used, as we will only be doing air moves in this program.
Record the current position the robot is sitting in as an air move and then hit Save and put the part on the playlist.
Using the robot move screen on the teach pendant, move the individual joint that you want to isolate to the new position. You can use either the arrows or the '+' or '-' key.
Now that the robot is in the new position, using Beacon, hit the edit button on the part to add a new air move point, hit save. It is important to close the editing in Beacon after each point is added so that the correct TCP is recorded.
Repeat steps 4 and 5 for each joint you want to move independently.
When you get to the end of the moves you need, you can set the home point as the final point you taught. If you do not remember how to teach a home waypoint, you can learn about that here
Here is what our part looks like for isolating the motion in wrist 3 and wrist 2, video below.
Run the part, and you will see each joint move independently like in the video below