Cranium to PLC

By default, the Cranium system sends a complete telegram with exactly 224 bytes to the crane PLC every 70 ms, i.e., in every control cycle. The message consists of 14 blocks of 16 bytes each. Data is transmitted in Big-Endian or, if configured accordingly, in Little-Endian. Individual bits of a byte used as Boolean values are numbered from 0 to 7, starting from the least significant bit.

note

Which bytes/bits need to be set depends on the functions you want to use on a system. For example, you do not need to consider the data for positioning if you do not require these functions.

General

Prefix: general
Bytes: 0..15

mostly requires license: Bridge Crane or Rotary Crane

`data_id` 0..1

Type: UINT

Telegram ID, always 30002 in this version.

`data_no` 2..3

Type: UINT

Telegram counter, incremented by 1 per cycle/message.

`control` 4.0

Type: BOOL/BIT

0 controller inactive
1 controller active

Serves as handshake for received command control=1.

`pos_save` 4.1

Type: BOOL/BIT

0 no action
1 position successfully saved

Serves as handshake for received command pos_save=1.

`area_save` 4.2

Type: BOOL/BIT

0 no action
1 area successfully saved

Serves as handshake for received command area_save=1.

requires license: Areas and Obstacles

`target_reached` 4.3

Type: BOOL/BIT

0 no action
1 target reached on all axes

`∅` 4.4..5.7

reserve

`∅` 6..15

reserve

Faults: General

Prefix: fault [general]
Bytes: 16..17

mostly requires license: Bridge Crane or Rotary Crane

`error_op_mode` 16.0

Type: BOOL/BIT

0 no error
1 invalid operating mode

`error_pos_invalid` 16.1

Type: BOOL/BIT

0 no error
1 target position invalid/unreachable

`error_area_collision` 16.2

Type: BOOL/BIT

0 no error
1 imminent collision or position already in obstacle

requires license: Areas and Obstacles

`error_track` 16.3

Type: BOOL/BIT

0 no error
1 track control not possible

requires license: Track Control

`∅` 16.4..17.4

reserve

`warn_area_collision` 17.5

Type: BOOL/BIT

0 no warning
1 approaching obstacle (velocity reduced)

requires license: Areas and Obstacles

`warn_data_no` 17.6

Type: BOOL/BIT

0 no warning
1 inconsistent data_no

`warn_data_id` 17.7

Type: BOOL/BIT

0 no warning
1 invalid data_id

Faults: Sensors

Prefix: fault [sensors]
Bytes: 18..19

`error_camera` 18.0

Type: BOOL/BIT

0 no error
1 camera collective error

requires license: Camera

`error_laser` 18.1

Type: BOOL/BIT

0 no error
1 laser collective error

requires license: Laser

`error_lidar` 18.2

Type: BOOL/BIT

0 no error
1 lidar collective error

requires license: Lidar

`error_proximity` 18.3

Type: BOOL/BIT

0 no error
1 proximity sensors collective error

requires license: Proximity Sensors

`∅` 18.4..19.3

reserve

`warn_proximity` 19.4

Type: BOOL/BIT

0 no warning
1 proximity sensors collective warning

requires license: Proximity Sensors

`warn_lidar` 19.5

Type: BOOL/BIT

0 no warning
1 lidar collective warning

requires license: Lidar

`warn_laser` 19.6

Type: BOOL/BIT

0 no warning
1 laser collective warning

requires license: Laser

`warn_camera` 19.7

Type: BOOL/BIT

0 no warning
1 camera collective warning

requires license: Camera

Faults: reserve

`∅` 20..31

reserve

Crane/Slewing Gear

Prefix: x
Bytes: 32..47

This axis represents the crane travel for bridge cranes and the slewing gear for rotary cranes.

requires license: Bridge Crane or Rotary Crane

`active` 32.0

Type: BOOL/BIT

0 axis inactive
1 axis active

Serves as handshake for received command active=1.

`op` 32.1

Type: BOOL/BIT

0 action finished
1 action in progress

`sway` 32.2

Type: BOOL/BIT

0 sway eliminated
1 sway present

`area_limit_min` 32.3

Type: BOOL/BIT

Negative direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`area_prelimit_min` 32.4

Type: BOOL/BIT

Negative direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_prelimit_max` 32.5

Type: BOOL/BIT

Positive direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_limit_max` 32.6

Type: BOOL/BIT

Positive direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`limit_active` 32.7

Type: BOOL/BIT

0 no limitation
1 velocity limited

Areas, obstacles, end positions, sensor data, etc.

`∅` 33.0..33.7

reserve

`vel_set` 34..35

Type: INT

Setpoint velocity in -1000..1000 (with configured norm: 1000).

`pos_rel` 36..37

Type: INT

Load deflection in mm, relative to the crane.

Filtered from model and sensor.

`∅` 38..47

reserve

Trolley/Boom

Prefix: y
Bytes: 48..63

This axis represents the trolley travel for bridge cranes and the boom for rotary cranes.

requires license: Bridge Crane or Rotary Crane

`active` 48.0

Type: BOOL/BIT

0 axis inactive
1 axis active

Serves as handshake for received command active=1.

`op` 48.1

Type: BOOL/BIT

0 action finished
1 action in progress

`sway` 48.2

Type: BOOL/BIT

0 sway eliminated
1 sway present

`area_limit_min` 48.3

Type: BOOL/BIT

Negative direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`area_prelimit_min` 48.4

Type: BOOL/BIT

Negative direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_prelimit_max` 48.5

Type: BOOL/BIT

Positive direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_limit_max` 48.6

Type: BOOL/BIT

Positive direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`limit_active` 48.7

Type: BOOL/BIT

0 no limitation
1 velocity limited

Areas, obstacles, end positions, sensor data, etc.

`∅` 49.0..49.7

reserve

`vel_set` 50..51

Type: INT

Setpoint velocity in -1000..1000 (with configured norm: 1000).

`pos_rel` 52..53

Type: INT

Load deflection in mm, relative to the trolley.

Filtered from model and sensor.

`∅` 54..63

reserve

Hoist

Prefix: z
Bytes: 64..79

requires license: Bridge Crane or Rotary Crane

`active` 64.0

Type: BOOL/BIT

0 axis inactive
1 axis active

Serves as handshake for received command active=1.

`op` 64.1

Type: BOOL/BIT

0 action finished
1 action in progress

`∅` 64.2

reserve

`area_limit_min` 64.3

Type: BOOL/BIT

Negative direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`area_prelimit_min` 64.4

Type: BOOL/BIT

Negative direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_prelimit_max` 64.5

Type: BOOL/BIT

Positive direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_limit_max` 64.6

Type: BOOL/BIT

Positive direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`limit_active` 64.7

Type: BOOL/BIT

0 no limitation
1 velocity limited

Areas, obstacles, end positions, sensor data, etc.

`∅` 65.0..65.7

reserve

`vel_set` 66..67

Type: INT

Setpoint velocity in -1000..1000 (with configured norm: 1000).

`∅` 68..79

reserve

Slewing Gear (Load)

Prefix: r
Bytes: 80..95

requires license: Bridge Crane or Rotary Crane

`active` 80.0

Type: BOOL/BIT

0 slewing gear inactive
1 slewing gear active

Serves as handshake for received command active=1.

`op` 80.1

Type: BOOL/BIT

0 action finished
1 action in progress

`sway` 80.2

Type: BOOL/BIT

0 sway eliminated
1 sway present

`area_limit_min` 80.3

Type: BOOL/BIT

Negative direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`area_prelimit_min` 80.4

Type: BOOL/BIT

Negative direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_prelimit_max` 80.5

Type: BOOL/BIT

Positive direction:

0 obstacle pre-end position inactive
1 load approaching obstacle

requires license: Areas and Obstacles

`area_limit_max` 80.6

Type: BOOL/BIT

Positive direction:

0 obstacle end position inactive
1 load just before or in obstacle

requires license: Areas and Obstacles

`limit_active` 80.7

Type: BOOL/BIT

0 no limitation
1 velocity limited

Areas, obstacles, end positions, sensor data, etc.

`∅` 81.0..81.7

reserve

`vel_set` 82..83

Type: INT

Setpoint velocity in -1000..1000 (with configured norm: 1000).

`pos_rel` 84..85

Type: INT

Load rotation in °/100, relative to the slewing gear.

Filtered from model and sensor.

`∅` 86..95

reserve

Track Control

Prefix: track
Bytes: 96..111

requires license: Track Control

`active` 96.0

Type: BOOL/BIT

0 track control inactive
1 track control active

Serves as handshake for received command active=1.

`∅` 96.1..97.7

reserve

`∅` 98..99

reserve

`vel_set_l` 100..101

Type: INT

Setpoint velocity left crane drive, in -1000..1000 (with configured norm: 1000).

`vel_set_r` 102..103

Type: INT

Setpoint velocity right crane drive, in -1000..1000 (with configured norm: 1000).

`∅` 104..111

reserve

Load Handling

Prefix: load
Bytes: 112..127

requires license: Lidar and Load Collision Prevention

`∅` 112.0..112.7

reserve

`atl_active` 113.0

Type: BOOL/BIT

0 load coupling detection inactive
1 load coupling detection active

Confirms to the PLC that coupling detection is active (handshake).

`atl_coupled` 113.1

Type: BOOL/BIT

0 no load coupling
1 dangerous load coupling detected

Indicator that adjacent structures are being lifted together with the load. A potential false detection can be reset from the PLC using the corresponding signal atl_reset=1 if necessary.

`∅` 113.2..113.7

reserve

`height_mm` 114..115

Type: UINT

0 height determination inactive
65535 unknown height or being determined
else determined load height in mm

Determined by Lidar.

`∅` 116..127

reserve

Proximity Sensors

Prefix: proximity
Bytes: 128..143

requires license: Proximity Sensors

`sensor_0_dist_mm` 128..129

Type: UINT

0 sensor inactive
65535 no obstacle
else distance to obstacle in mm

Measurement of the first sensor.

`sensor_1_dist_mm` 130..131

Type: UINT

0 sensor inactive
65535 no obstacle
else distance to obstacle in mm

Measurement of the second sensor.

`sensor_2_dist_mm` 132..133

Type: UINT

0 sensor inactive
65535 no obstacle
else distance to obstacle in mm

Measurement of the third sensor.

`sensor_3_dist_mm` 134..135

Type: UINT

0 sensor inactive
65535 no obstacle
else distance to obstacle in mm

Measurement of the fourth sensor.

`∅` 136..143

reserve

Reserve Block

`∅` 144..159

reserve

Reserve Block

`∅` 160..175

reserve

Reserve Block

`∅` 176..191

reserve

Reserve Block

`∅` 192..207

reserve

Reserve Block

`∅` 208..223

reserve

General
Faults: General
Faults: Sensors
Faults: reserve
- ∅ 20..31
Crane/Slewing Gear
Trolley/Boom
Hoist
Slewing Gear (Load)
Track Control
Load Handling
Proximity Sensors
Reserve Block
- ∅ 144..159
Reserve Block
- ∅ 160..175
Reserve Block
- ∅ 176..191
Reserve Block
- ∅ 192..207
Reserve Block
- ∅ 208..223

General​

data_id 0..1​

data_no 2..3​

control 4.0​

pos_save 4.1​

area_save 4.2​

target_reached 4.3​

∅ 4.4..5.7​

∅ 6..15​

Faults: General​

error_op_mode 16.0​

error_pos_invalid 16.1​

error_area_collision 16.2​

error_track 16.3​

∅ 16.4..17.4​

warn_area_collision 17.5​

warn_data_no 17.6​

warn_data_id 17.7​

Faults: Sensors​

error_camera 18.0​

error_laser 18.1​

error_lidar 18.2​

error_proximity 18.3​

∅ 18.4..19.3​

warn_proximity 19.4​

warn_lidar 19.5​

warn_laser 19.6​

warn_camera 19.7​

Faults: reserve​

∅ 20..31​

Crane/Slewing Gear​

active 32.0​

op 32.1​

sway 32.2​

area_limit_min 32.3​

area_prelimit_min 32.4​

area_prelimit_max 32.5​

area_limit_max 32.6​

limit_active 32.7​

∅ 33.0..33.7​

vel_set 34..35​

pos_rel 36..37​

∅ 38..47​

Trolley/Boom​

active 48.0​

op 48.1​

sway 48.2​

area_limit_min 48.3​

area_prelimit_min 48.4​

area_prelimit_max 48.5​

area_limit_max 48.6​

limit_active 48.7​

∅ 49.0..49.7​

vel_set 50..51​

pos_rel 52..53​

∅ 54..63​

Hoist​

active 64.0​

op 64.1​

∅ 64.2​

area_limit_min 64.3​

area_prelimit_min 64.4​

area_prelimit_max 64.5​

area_limit_max 64.6​

limit_active 64.7​

∅ 65.0..65.7​

vel_set 66..67​

∅ 68..79​

Slewing Gear (Load)​

active 80.0​

op 80.1​

sway 80.2​

area_limit_min 80.3​

area_prelimit_min 80.4​

area_prelimit_max 80.5​

area_limit_max 80.6​

limit_active 80.7​

∅ 81.0..81.7​

vel_set 82..83​

pos_rel 84..85​

General

`data_id` 0..1

`data_no` 2..3

`control` 4.0

`pos_save` 4.1

`area_save` 4.2

`target_reached` 4.3

`∅` 4.4..5.7

`∅` 6..15

Faults: General

`error_op_mode` 16.0

`error_pos_invalid` 16.1

`error_area_collision` 16.2

`error_track` 16.3

`∅` 16.4..17.4

`warn_area_collision` 17.5

`warn_data_no` 17.6

`warn_data_id` 17.7

Faults: Sensors

`error_camera` 18.0

`error_laser` 18.1

`error_lidar` 18.2

`error_proximity` 18.3

`∅` 18.4..19.3

`warn_proximity` 19.4

`warn_lidar` 19.5

`warn_laser` 19.6

`warn_camera` 19.7

Faults: reserve

`∅` 20..31

Crane/Slewing Gear

`active` 32.0

`op` 32.1

`sway` 32.2

`area_limit_min` 32.3

`area_prelimit_min` 32.4

`area_prelimit_max` 32.5

`area_limit_max` 32.6

`limit_active` 32.7

`∅` 33.0..33.7

`vel_set` 34..35

`pos_rel` 36..37

`∅` 38..47

Trolley/Boom

`active` 48.0

`op` 48.1

`sway` 48.2

`area_limit_min` 48.3

`area_prelimit_min` 48.4

`area_prelimit_max` 48.5

`area_limit_max` 48.6

`limit_active` 48.7

`∅` 49.0..49.7

`vel_set` 50..51

`pos_rel` 52..53

`∅` 54..63

Hoist

`active` 64.0

`op` 64.1

`∅` 64.2

`area_limit_min` 64.3

`area_prelimit_min` 64.4

`area_prelimit_max` 64.5

`area_limit_max` 64.6

`limit_active` 64.7

`∅` 65.0..65.7

`vel_set` 66..67

`∅` 68..79

Slewing Gear (Load)

`active` 80.0

`op` 80.1

`sway` 80.2

`area_limit_min` 80.3

`area_prelimit_min` 80.4

`area_prelimit_max` 80.5

`area_limit_max` 80.6

`limit_active` 80.7

`∅` 81.0..81.7

`vel_set` 82..83

`pos_rel` 84..85