Safeoperation : creating spheres on robot

    We have KRC4 8.5.7 HF1 and robot is KR 90 R3100 extra HA.
    We are looking now for preparation of SafeOperation (V3.4.3).
    We not only want to protect the tool itself from hitting environment, but also the back of axis 3 where the two Kuka servomotors are.
    Our cell setup is so that if during jogging no special care is taken by the operator, the fence could be hit.
    I read in the manual of Safeoperation that spheres can be configurated on the robot related to the tool flange (axis 6). But an extra point we want to protect is as said the back of axis 3 with its servomotors. If I configure a sphere over these motors, the sphere will be related with an offset to the tool flange. If axis 5 moves a lot the sphere will not cover the back of axis 3 anymore.
    So, is there a posibility in Safeoperation to create a sphere over the back of axis 3 that will stay in that position unchanged related to axis 3 itself?

    Which sucks, b/c ABB and Fanuc both have that as part of their SafeOp equivlaents. ABB's realtime visualizer for SafeMove is nice, so nice I would steal it to use on KUKAs if it were possible.

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