Tell me all you know.
First of all I thought they both mean doing a continuous action until the very present, until I saw the other post on pretty much the same topic. I feel what that post provide is incomplete so seek to get a more complete understanding of their difference.
Here is what it says: have is less of a continuous action than have been.
Have worked here, may indicate that you have been working or are working until now. It may also indicate you no longer work here but did in the past. This however sounds to be like a situation in which "had" is more appropriate.
One of the comments on that post, provide an exception. If you say "I have worked here since two years ago" it means you still work here. Now, I am confused how so trivial a preposition may change what "have" means. Hope someone can provide more exceptions like this.