FANUC R-30iB Plus Dual Check Safety (DCS) Cartesian Speed & Tool Frame Setup

Setting up a FANUC M-20iD/25 robot with R-30iB Plus controller. When configuring DCS Cartesian Speed Check on Tool Frame 2 (pneumatic gripper with 8kg payload), robot halts with DCS alarm `SRVO-402 DCS Cart. Pos. limit` during high-speed blending moves near safe zone boundaries. How do we properly model the tool sphere envelope to prevent false triggers?