Avoid tool collision with robot

Hello,

We have an IRB 4600 with a rather large tool formed like a cross from the sixth axis, this robot picks objects with the help of vision and we've had the problem that the tool collides with the robots fourth axis in certain rotations.

Is there any software solutions for this?

The robot has SafeMove Pro so we can define the tool's geometry, but can we use this geometry to check when we get too close to the robot or do we need to make the work area better mechanically by raising the robot?

Thanks!
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