Why are you using the verb 'keep' here? Unless you are indicating that the table is the normal storage place for the coffee, it is incorrect.
The coffee is on the table. This merely indicates the geographical location of the coffee at the time of speaking/writing.
The coffee has been on the table...requires a time factor which started in the past but is still in the present. You would need to add something like...since 8.00 a.m./all morning for this to make sense as an uncontextualised statement.
Hope this helps!