Prusa 3D Printer Error Code 16: How to Fix It

Q: What is input shaper on a Prusa printer and why does it need to be calibrated?

Input shaper (resonance compensation) is a feature that measures how your printer vibrates during printing using an accelerometer sensor. It then adjusts the motion profile to cancel out those vibrations, which reduces ringing and ghosting artifacts on your prints. Calibration must be run so the printer can measure your specific machine's resonance frequencies — every printer is slightly different due to belt tension, frame rigidity, and other factors.

Q: Can I still print if I get Prusa Error Code 16?

In many cases, yes — you may be able to dismiss the error and continue printing without input shaper active. However, your prints may show ringing or ghosting artifacts, especially at higher print speeds. It is strongly recommended to resolve Error Code 16 and complete a successful calibration before printing at high speeds to get the best quality results.

Q: How often should I run input shaper calibration on my Prusa printer?

Prusa recommends running input shaper calibration whenever you make significant mechanical changes to your printer, such as replacing belts, changing the hotend, upgrading the extruder, or after a nozzle crash. You do not need to run it before every print. Running it once after initial setup and then again after any hardware changes is typically sufficient.

Q: Why does my Prusa input shaper calibration keep failing even after checking the cables?

If the calibration continues to fail after re-seating cables and checking belts, the most likely culprits are a faulty or damaged accelerometer module, excessive external vibrations on the printing surface, an outdated firmware version with a known calibration bug, or corrupted calibration data in memory. Work through all eight steps in this guide systematically, and if the issue persists after replacing the accelerometer, contact Prusa support.

Q: Does Prusa Error Code 16 affect all printer models?

Error Code 16 for input shaper calibration failure is specific to Prusa printer models that include an integrated accelerometer for resonance compensation, such as the Prusa MK4, Prusa XL, and certain configurations of the Prusa Mini+. Older models like the MK3S+ do not have this feature built in, so this error would not apply to them.

Abstract

Prusa Error Code 16 indicates that the input shaper calibration process has failed on your 3D printer. Input shaper (also called resonance compensation) is a feature that reduces print ringing and ghosting artifacts by measuring vibrations through the accelerometer and tuning the printer's motion system. This error typically means the printer could not complete or validate the calibration routine, which may be caused by a loose accelerometer, mechanical issues, or firmware problems.