Here are some screenshots of what other companies do to tackle this common problem, being able to take your personal setup as close as its safe to do, manually, and your software reading that data from encoder position, and in doing so defining the 'no-go areas' for your own setup, would be a great advantage and something that would seem has been requested in one way or another by many people so far, yet you haven't so far implemented.
Hope this helps inform your team better =)
Thanks
