buzzp's comment “_before they start_” is exactly that of a friend of mine, asking to advice him in the matter herein. That's right. A voltage measuring relay cannot DETECT phase loss because of voltage regeneration at the lost phase terminal. However, a [good] undervoltage relay can PROTECT against phase loss IF & ONLY IF the voltage decreases at the lost phase terminal. This condition can be true when the motor is loaded. The disadvantage of some [bad] undervoltage relays is that they cannot sense small regenerated voltage changes produced by lightly loaded motors. Still, [good] undevoltage relays can accurately detect imbalances within NEMA’s secure range.
Regarding harmonics interference, I’m testing & simulating 3ph and single-phase detection circuits. The results show that third harmonic contents interfere in single-phase, but not in 3-ph detection. This can be understood because of third harmonic contents of 3ph rectification used. Anyway, I don’t know if harmonics are actually present and/or would affect any motor’s performance.