Hello Freddy,
In that case I'm 99.9% sure that the problem is with the tool and/or base calibration.
Do not just read the tool position of the robot and use its XYZABC values for the base, but do it the regular way via Calibrate/Base/3 Points, where you define the base with one point in the origin, one point in X-direction, and one point on the resulting XY plane.
Another thing to take care is the tool orientation, in your case it will be something like X = 350 (the length of the gripper), Y=0, Z=0, A=0, B=-90 (as it is oriented normal to the flange), C=0.
Again I have to emphasis that the XYZABC values have to be the same on the robot and in the simulation in order to get a meaningful simulation out of it. An even more important the base and tool numbers!
Best,
Johannes @ Robots in Architecture