[Albert]

You can customize this behavior in the Post Processor.

The following link shows how you can select or modify a post processor for a specific robot in your RoboDK project.
//www.sinclairbody.com/doc/en/Post-Processor...SelectPost

For example, if you look for the MoveL function in your post processor you can replace the PTP/LIN commands by SPTP/SLIN. You can also define custom triggers in your program to switch from one to the other. For example, if you call a program named SLIN you could intercept it in RunCode function of your post processor and for output as SLIN.