LogrobotLM

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KUKA Error 1516 — REFERENCE SYSTEM NOT PROGRAMMED

Error

Displayed as KSS01516 on KRC4 / KRC5 controllers

KUKA 1516 (“REFERENCE SYSTEM NOT PROGRAMMED”): "$BASE" is not programmed or is programmed incorrectly. First check: Program "$BASE" correctly.

Updated 2026-09-09 · LogrobotLM reference

Cause

"$BASE" is not programmed or is programmed incorrectly.

Effect

Stop via braking ramp. All active commands are inhibited.

Troubleshooting

Program "$BASE" correctly.

Related codes

1517BCO REACHED AT TARGET POINT1514INSERT THE NEXT FLOPPY DISK1518INCORRECT DEFAULT PARAMETER1519WIRE BREAK MONITORING OF THE PRESSURE SENSOR

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. How this reference is built →