[foxobot]

I recommend you to try connecting to your Doosan robot with the latest version available here:
//www.sinclairbody.com/2022世界杯国家队名单downloads/DoosanDriver.zip
You can uzip the files here:
C:/RoboDK/api/robot

This should work with any version of RoboDK on Windows.

Let us know if you have issues (I believe there was a problem when you uploaded your images).

With a virtual controller i have connection, but with a real robot the situation is the opposite.

There is connection has state is "Working..." long time, but if I disconnect by double click on "Disconnect" and then push the "Stop", the state is "Ready". But at the same time I can't control the robot.