In RoboDK, functions for moving the robot (for instance MoveJ) are generated by postprocessor to an urscript code with no problem, that means you can run the code directly from the PC - virtual robot and real robot move simultaneously. But RoboDK function for attach and detach Robotiq gripper is not generated (for example attach should be generated to rq_close), so you have to edit with script (add function in Robodk) and yes, also combine with teach pendant like in my case. In teach pendant you have to make "before start sequence" for communication which includes rq_before_start.script and rq_script.script - you can find those online, after this sequence you download robot program from RoboDK and execute it with teach pendant. But I think that with a little further investigation it is possible to combine before start sequence with main program in RoboDK and run the complete program directly from PC without having it combine with teach pendant.