Machine Data; Maximum Number Of Elements; Root Element; System Variables - Siemens SINUMERIK 840D sl Function Manual

K7: Kinematic chain - only 840D sl
5.2 Commissioning
5.2.2

Machine data

5.2.2.1

Maximum number of elements

The following machine data is used to specify how many elements are provided by the control
for kinematic chains:
MD18880 $MN_MM_MAXNUM_KIN_CHAIN_ELEM = <number>
5.2.2.2

Root element

The following machine data is used to specify the root element, i.e. the first element of the
currently active kinematic chain.
MD16800 $MN_ROOT_KIN_ELEM_NAME = "<element_name>"
All parameterized elements and subchains that are connected to the root element in such a
way that the connection starts at the root element, are part of the currently active kinematic
chain.
Parameterized elements or subchains that are not connected to the root element or whose
connection points towards the root element, are not part of the currently active kinematic chain.
5.2.3

System variables

5.2.3.1

Overview

An element is parameterized with the following system variables:
System variable
$NK_NAME
$NK_NEXT
$NK_PARALLEL
$NK_TYPE
$NK_OFF_DIR
190
Meaning
Name of the current element e
Name of the next element e
Name of a branching parallel element e
e
n
Type of the element
Depending on type: Offset or direction vector depending on the ele‐
ment type parameterized in $NK_TYPE
Function Manual, 01/2015, 6FC5397-2BP40-5BA2
n
n+1
before the current element
p
Special functions