After further investigation I found the solution. The installation of Spark was missing the archive "sparkr.zip". This archive should be in the folder "SPARK_HOME/R/lib". I downloaded a pre-build version of Spark for Hadoop 2.6 from http://spark.apache.org/downloads.html. The download (spark-1.6.2-bin-hadoop2.6.tgz) contains the folder "R/lib" and it contains the archive "sparkr.zip". I moved the folder into the installation path of Spark on my HDP cluster. After restarting the Spark service I was able to use the prefix "%livy.sparkr" in Zeppelin Notebook. ... View more