Control Denso VP-6242 Using Moveit

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Platform: Ubuntu 18.04 and ROS Melodic

I am trying to control a real DENSO VP-6242 robot through Moveit by using the Denso package: http://wiki.ros.org/denso.

Everything is okay, that is b-cap is connected successfully, the motor is also turned on. However, when I executed the planned path in Rviz, the robot did not move.

And a warning popped up as follows

[ WARN] [1576226215.863225078]: Controller arm_controller/position_trajectory_controller failed with error GOAL_TOLERANCE_VIOLATED: 
[ WARN] [1576226215.863321557]: Controller handle arm_controller/position_trajectory_controller reports status ABORTED

I hope to get your solution. Thank you.