I have only done withing Poly scope, however there should be a way to make joint moves.
Save current TCP then do joint math on the joint, then send the robot to that new position.
Below is a screenshot example of what I did.
From the Script Manual:
Looks like one did it this way: Urscript move single joint angle of a specific angle instead of set coordinate position - Technical Questions / URScript - Universal Robots Forum (universal-robots.com)
Hope that helps get you in the correct direction.