[Albert]

It is not straightforward to work with this data.

I assume your TCP is (the XYZ values are the most important but we should also get ABC values correct to validate the rest):
TCP XYZABC = [ 41.419, 1.171, 632.596, 0, 30, 0 ]
Can you confirm if it makes sense in the simulator? It seems quite far from the 3D model.

It looks like you moved the robot to the following joint values (which I assume they correspond to a corner of the table):
J1-J6 = [60.800000, -104.490000, 129.250000, 19.040000, 29.490000, -2.410000] deg

And according to RoboDK, the position of the TCP with respect to the base is:
[ 657.044, -1473.068, 558.225, 126.753, 4.895, -164.084 ]

As shown in the following image.


However, you shared an image that seems to show different coordinates. RoboDK and the teach pendant should show the same XYZABC for the same Joint values. Make sure you properly select the tool and the base system on both.

What is BASE E1? This is probably related to a coordinate system attached to a turntable or an unknown base configuration.

Also, we need 3 corners of the table to properly place coordinate system of your table.