When to replace a chain?

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Joined
Jul 27, 2010
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Location
Blouberg, Cape Town
Bike
KTM 890 Adventure R
On my bicycles it is easy to see if the chain needs replacement. Use a chain checker tool.
But how do you know when to replace the chain on your bike? Yes, I know you can pull the chain backwards on the rear sprocket and look at tooth wear, but how do you really know?

I replaced a chain on a BMW F800GS on 31K km. The chain on my 2013 F800GS has done 18K km, with some movement observed when pulling the chain back from the rear sprocket - still some 13K km to go, compared to the previous chain. What are the measurables, and how?
 

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