diff --git a/moveit_cfgs/fanuc_lrmate200ic_moveit_plugins/lrmate200ic_kinematics/src/fanuc_lrmate200ic_manipulator_ikfast_moveit_plugin.cpp b/moveit_cfgs/fanuc_lrmate200ic_moveit_plugins/lrmate200ic_kinematics/src/fanuc_lrmate200ic_manipulator_ikfast_moveit_plugin.cpp
index 1da90db7..baaf1f1d 100755
--- a/moveit_cfgs/fanuc_lrmate200ic_moveit_plugins/lrmate200ic_kinematics/src/fanuc_lrmate200ic_manipulator_ikfast_moveit_plugin.cpp
+++ b/moveit_cfgs/fanuc_lrmate200ic_moveit_plugins/lrmate200ic_kinematics/src/fanuc_lrmate200ic_manipulator_ikfast_moveit_plugin.cpp
@@ -57,7 +57,7 @@
 const double LIMIT_TOLERANCE = .0000001;
 
 const double J3J2_LIMIT_MAX = 25.0/180.0*M_PI;
-const double J3J2_LIMIT_MIN = -20.0/180.0*M_PI;
+const double J3J2_LIMIT_MIN = -55.0/180.0*M_PI;
 
 /// \brief Search modes for searchPositionIK(), see there
 enum SEARCH_MODE { OPTIMIZE_FREE_JOINT=1, OPTIMIZE_MAX_JOINT=2 };