# moveit driver Fanuc R-2000iB

Hello, Does anyone already use an Fanuc r-2000ib with movit ? or is it somewhere to find the fanuc r2000ib moveit config files ?

i use now the fanuc r1000ia driver with moveit and the r-2000ib robot but when i move the robot Z-axis , with waypoints and python , a little bit down then the robot act like that it has an singularity.

with kind regards,

Michel Croes

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"moveit driver[s]" don't really exist. MoveIt configuration packages do exist, but there is no such package for R-2000iB (which variant?) available.

The drivers I'm familiar with (fanuc_driver and fanuc_driver_exp) are manipulator-agnostic, meaning they will work with just about any robot series you can connect to R-30iA, R-30iB and R-30iB+ controllers. That will give you a way to control motion.

For motion planning however (with MoveIt for instance), you will typically need something called a robot support package. Such a package contains the kinematic description of the supported variants of a specific robot model or series, in addition to some other infrastructure. For the R-2000iB, that would be fanuc_r2000ib_support.

As I wrote earlier, there are no MoveIt configuration packages available for any R-2000iB variants (or at least: not in ros-industrial/fanuc or ros-industrial/fanuc_experimental). You'll have to create one yourself. That is not too complex, as you can use the MoveIt Setup Assistant.

i use now the fanuc r1000ia driver with moveit and the r-2000ib robot but when i move the robot Z-axis , with waypoints and python , a little bit down then the robot act like that it has an singularity.

I'm not sure I understand exactly what you describe here, but the R-1000iA is kinematically probably different enough to lead to strange results when executing resulting trajectories on R-2000iB robot models.

In general it is not recommended to use robot support and / or MoveIt configuration packages for one series or variant with another series or variant. It will not work reliably.

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Hello Michel,

Does anyone already use a Fanuc r-2000ib with movit ? or is it somewhere to find the fanuc r2000ib moveit config files ?

https://github.com/ros-industrial/fan...

https://github.com/ros-industrial/fanuc

i use now the fanuc r1000ia driver with moveit and the r-2000ib robot but when i move the robot Z-axis , with waypoints and python , a little bit down then the robot act like that it has an singularity.

Yes, if two robots have a bit change in links, and joints then also it will affect the final output. To solve this problem you need to have the same robot model in a virtual environment and a real environment.

If you have any other queries feel free to comment.

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