@mortezadianatfar I’m confused, are you trying to let the virtual robot move in real time or do you still want the real robot to be driven by the simulation?
If you want to let the robot to be driven by the simulation - this is not possible as I wrote in this post.
What you would need is the robot code for the controller. Have a look at the thread Post Processor (with sample translators). This is an addon to create robot code. Fortunately for you there is a translator for universal robot included. After exporting the code you will get a *.script file which you can transfer to your UR controller. You will need to add a script statement in the program and then select the *.script file which should be called in that statement.
Have a look at this video: Simulate Universal Robots with RTDE Connection