Motion Axis Gear Robot To Kinetix 6500??

I have a new LR mate 200iD with all the bells and whistles. Anyone ever gear a AB servo to a Fanuc Robot with any success? My problem here seems to be network latency. Im Moving the Robot at around 2000 mm/s. by the time a position register even gets back to the PLC to make a incremental move of the axis the robot has already moved another few inches.

You are fighting an uphill battle. What is the output of the Fanuc Robot that the AB is gearing too? Normal Ethernet is too slow. Can the robot generate a quadrature output?

The robot talks over Ethernet I/P to the plc. RPI is set to 2ms. The connection is safety and it is using some sort of CIP so I was hoping to use the time stamping like the CIP motion does over the same network. As for the encoder feed back I am unsure....I do however get x,y,z data from a robot register...it's just to slow to update for motion control.