[Helios]

This is possible but it would require customization of the driver which is not as easy as using the post processor.

I understand; the problem is if I use a post-processor, I should manually send the files to the robot and make sure the old files are deleted. Also, it seems like I should run them on the robot as well.
1- Are there any scripts doing that?
2- Also, when sending the LS files, it seems there are unknown functions for Fanuc inside the LS file. For instance, there are such lines:
  8:  CALL SetRPM60.0 ;
  9:  CALL M_RunCode190 ;
  10:  CALL SetRPM210.0 ;
  11:  CALL M_RunCode104 ;
  12:  CALL SetRPM210.0 ;
  13:  CALL M_RunCode109 ;
  14:  CALL M_RunCode82 ;

Which creates an error(the program was not found).
3- Is there any Python script to change DO directly, not under a program? (not using setDO)

[Albert]

You should customize the post processor. For example, the length of program calls for Fanuc controllers can be customized using the MAX_PROG_CHARS parameter.

Triggering calls such as SetRPM(210) by customizing how you pass parameters can be customized with the RunCode function of your post processor.