The wowace site is a wonderful source of information - especially for eePanels2. There is the wiki, a depository of scripts, and the forums. In the forums it has been told several times what the best/easiest way to do what the OP requires is, and Slakah hit the nail on the head.
Parent it to your pet's unit frame and then just offset it (can either drag or enter in coordinates) to where you need it to be.