The innovative joystick enables fast and flexible programming/teaching directly at the machine. Based on the control of the HLA-M basic machine, the HLA-M+ variant, equipped with motorized axes and a joystick, can reproducibly execute cycle-controlled paths. Similar to the “teach-in” process in robot control, the operator moves through all desired movements and memorizes them by pressing a button on the joystick. The stored paths can then be processed (welded) under the full control of the operator by pressing the foot pedal.