Nt_T_Chain_Last_Elem - Siemens SINUMERIK 840DE sl Function Manual

Example
For the first transformation, the name of the element of the kinematic chain that defines the end
point of the subchain for the workpiece reference point is "TableOffset":
Program code
N100 $NT_P_CHAIN_FIRST_ELEM[1] = "Base-
offset"
4.2.4.7

$NT_T_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 workpiece reference point
(see Definition of kinematic transformations (Page 256)). The other subchain, which is
described here, leads to the tool 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 tool reference point, must be entered
in the system variable $NT_T_CHAIN_LAST_ELEM.
Note
Pure tool kinematics
If, for pure tool kinematics, the kinematics of the transformation is completely described by the
subchain for the tool reference point, the parameterization of the system variable
$NT_T_CHAIN_LAST_ELEM is sufficient. The system variable for describing the subchain for
the workpiece reference point ($NT_P_CHAIN_LAST_ELEM) can remain blank.
Syntax
$NT_T_CHAIN_LAST_ELEM[<n>] = "<ElementName>"
Meaning
$NT_T_CHAIN_LAST_ELEM: Name of the element of the kinematic chain currently in effect, which
Transformations
Function Manual, 06/2019, A5E47435470B AA
K12 transformation definitions with kinematic chains
Comment
; 2nd transformation,
; element for the workpiece reference
point
defines the end point for the tool reference point, starting from the root
element.
Data type: STRING
Default value: ""
Range of val‐ Element names of the currently active kinematic chain
ues:
4.2 Commissioning
285