[Nox]

Make sure you don't have collision checking activated:
Tools-Check collisions
(uncheck this option)

Also, if you change some of the default settings it can alter the default behavior. I recommend you to set the default settings:
Tools-Options-Select Set Default Settings

I've made both things, but the robot still waits a lot in between movements, I was reading that this can be something about the $ADVANCE option for KUKA robots, default is 2 on RoboDK, but I have no idea if I have to set it less than 2 or bigger than 2...