Your number is counting days. Convert to seconds, and you’re all set (less a rounding error)
helpData[["ExcelDate"]] <-
as.POSIXct(helpData[["ExcelNum"]] * (60*60*24)
, origin="1899-12-30"
, tz="GMT")
# ID DateTime ExcelNum ExcelDate
# 1 1 3/4/2011 6:00 40606.25 2011-03-04 06:00:00
# 2 2 3/11/2011 7:55 40613.33 2011-03-11 07:54:59
# 3 3 3/13/2011 7:55 40615.33 2011-03-13 07:54:59
# 4 4 3/14/2011 0:00 40616.00 2011-03-14 00:00:00
# 5 5 3/14/2011 10:04 40616.42 2011-03-14 10:03:59
# 6 6 3/14/2011 7:55 40616.33 2011-03-14 07:54:59
# 7 7 3/15/2011 19:55 40617.83 2011-03-15 19:54:59
# 8 8 3/17/2011 7:55 40619.33 2011-03-17 07:54:59
# 9 9 3/18/2011 4:04 40620.17 2011-03-18 04:03:59
# 10 10 3/18/2011 4:04 40620.17 2011-03-18 04:03:59