Machined forehead plate, from them You can make some measures
Try to give us some measures robot-table-tray
Your provide X and Y, what is with Z values, I am not sure that Z is always the same!
In Joint COORD set J4 0, J5 0 and J6 0 deg.
Use UF0, UT1 (0,0,150,0,0,0) touch corners P1, P2, P3 and P4, note values for X, Y and Z read
on TP (press button POSN, change to F4 WORLD).
When you cross data from Real Robot and 3D You can get info how is Your Real Robot displaced and twisted in space.
I have a feeling that W, P and R will be more than 0.