# How to rotate just Wrist 3 using URScript command speedl

**URL:** <https://forum.universal-robots.com/t/how-to-rotate-just-wrist-3-using-urscript-command-speedl/22697>\
**Category:** URScript\
**Created:** [July 15, 2022, 5:54pm UTC](https://forum.universal-robots.com/t/how-to-rotate-just-wrist-3-using-urscript-command-speedl/22697 "2022-07-15T17:54:46Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![4tur](https://avatars.discourse-cdn.com/v4/letter/4/45deac/32.png) [@4tur](https://forum.universal-robots.com/u/4tur)\
**Post date:** [July 15, 2022, 5:54pm UTC](https://forum.universal-robots.com/t/how-to-rotate-just-wrist-3-using-urscript-command-speedl/22697/1 "2022-07-15T17:54:46Z")

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I have been trying to perform this rotation using the speedl command, since it allows smooth movement, but I don’t find a transformation that just rotate Wrist 3, does anyone know how to perform this using speedl?

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**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\
**Post date:** [July 16, 2022, 1:34pm UTC](https://forum.universal-robots.com/t/how-to-rotate-just-wrist-3-using-urscript-command-speedl/22697/2 "2022-07-16T13:34:06Z")

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Hi,  
You can do this just using moveJ and only rotating wrist 3.

 ![Wrist3Rotate](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/9/93a63fe1da73f2f1c939d0d2d2698e20d87aa93b.png)