KUKA Error Message 1416 Orientation acceleration not programmed

KUKA Robot Error Code 1416 Orientation acceleration not programmed
Cause – No value has been assigned to the program data “$ACC.ORI1” and “$ACC.ORI2”.
Monitor – At the first CP block.
Effect – Ramp-down braking.
– All active commands inhibited.
Remedy – Alter the program accordingly.
– Acknowledge message.


KUKA Error Message 1416 Orientation acceleration not programmed