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KUKA Error 1416 — ORIENTATION ACCELERATION NOT PROGRAMMED

Error

Displayed as KSS01416 on KRC4 / KRC5 controllers

KUKA 1416 (“ORIENTATION ACCELERATION NOT PROGRAMMED”): No value has been assigned to the machine parameters "$ACC.ORI1" and "$ACC.ORI2". First check: Modify the program accordingly.

Updated 2026-09-09 · LogrobotLM reference

Cause

No value has been assigned to the machine parameters "$ACC.ORI1" and "$ACC.ORI2".

Effect

Stop via braking ramp. All active commands inhibited.

Troubleshooting

Modify the program accordingly. Acknowledge the message.

Related codes

1415LINEAR VELOCITY NOT PROGRAMMED1417ORIENTATION VELOCITY NOT PROGRAMMED1414LINEAR ACCELERATION NOT PROGRAMMED1418<X, Y, Z, A, B, C> BASE NOT PROGRAMMED

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