[Phillip]

For the offset of 45 degrees on the end effector, could you record the position of flange and end effector as reported by the teach pendant in a few different joint positions?
Something like
Joints: 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000
Flange position on teach pendant:
end effector position on teach pendant:
This will show me if the offset is being added by the model in robodk being wrong or the driver

As for the speed problem, this may be due to points being too close together