Nt_P_Chain_Last_Elem - Siemens SINUMERIK 840DE sl Function Manual

K12 transformation definitions with kinematic chains
4.2 Commissioning
<n>:
<ElementName>:
Example
For the first transformation, the name of the element of the kinematic chain that defines the end
point of the subchain for the tool reference point is "Basetool":
Program code
N100 $NT_T_CHAIN_LAST_ELEM[1] = "base
tool"
4.2.4.8

$NT_P_CHAIN_LAST_ELEM

Function
The kinematics of a transformation is described by a maximum of two kinematic subchains,
which begin in the respective root element, i.e. the first element of the kinematic chain that is
in effect. One subchain leads from the root element to the tool reference point (see Definition
of kinematic transformations (Page 256)). The other subchain, which is described here, leads
to the workpiece reference point.
The name ($NT_NAME (Page 279)) of the element of the kinematic chain that is currently in
effect, which defines the end point of the subchains for the workpiece reference point, must be
entered in the system variable $NT_P_CHAIN_LAST_ELEM.
Note
Pure workpiece kinematics
If, for pure workpiece kinematics, the kinematics of the transformation is completely described
by the subchain for the workpiece reference point, the parameterization of the system variable
$NT_P_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for
the tool reference point ($NT_T_CHAIN_LAST_ELEM) can remain blank.
Syntax
$NT_P_CHAIN_LAST_ELEM[<n>] = "<ElementName>"
286
System variable or transformation index
Data type: INT
Range of val‐ 1, 2, ... (MD18866 $MN_MM_NUM_KIN_TRAFOS - 1)
ues:
Name of an element of the currently active kinematic chain
Data type: STRING
Comment
; 1st transformation,
; element for the tool reference point
Function Manual, 06/2019, A5E47435470B AA
Transformations