diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 852477268e44969670b78789e31f1aae57848fac..c5e4d774bf02fdb78bb84c6bb4253bdec6713679 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -349,6 +349,10 @@ namespace armarx
 
         Eigen::Matrix4f oldFrameTransformation = Eigen::Matrix4f::Identity();
 
+        if (frame != GlobalFrame and !referenceRobot->hasRobotNode(frame))
+        {
+            throw LocalException() << "The current frame '" << frame << "' does not exists in the robot " << referenceRobot->getName();
+        }
         if (!referenceRobot->hasRobotNode(newFrame))
         {
             throw LocalException() << "The requested frame '" << newFrame << "' does not exists in the robot " << referenceRobot->getName();