PLC to Cranium

By default, the Cranium system expects a complete telegram of 224 bytes from 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 2 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

As a handshake, Cranium sends back control=1.

`sway_damping` 4.1

Type: BOOL/BIT

0 sway damping inactive
1 sway damping active (for both crane and trolley)

`pos_save` 4.2

Type: BOOL/BIT

0 no action
1 store current position in target memory (with set pos_id)

As a handshake, Cranium sends back pos_save=1.

`area` 4.3

Type: BOOL/BIT

0 safety areas/obstacles inactive
1 safety areas/obstacles active

requires license: Areas and Obstacles

`area_save` 4.4

Type: BOOL/BIT

0 no action
1 store safety area/obstacle

As a handshake, Cranium sends back area_save=1.

For the transmitted data, see the blocks for area memory.

requires license: Areas and Obstacles

`proximity` 4.5

Type: BOOL/BIT

0 control without proximity sensors
1 control with proximity sensors

Sensors continue measuring even at 0.

requires license: Proximity Sensors

`cartesian` 4.6

Type: BOOL/BIT

0 rotary crane: normal control
1 rotary crane: cartesian/axial control

`height_fixed` 4.7

Type: BOOL/BIT

0 rotary crane: normal control
1 rotary crane: fixed hoist height

`∅` 5.0..5.7

reserve

`∅` 6

reserve

`op_mode` 7

Type: USINT

0 controller inactive
1 manual operation mode
2 automatic positioning to pos_tar (single positions only)
3 automatic positioning to pos_id (also complete paths)
4 navigation to pos_tar (like 2 plus pathfinding)
5 navigation to pos_id (like 3 plus pathfinding)

4 and 5 require license: Navigation

`param_set` 8..9

Type: UINT

Number of the active parameter set, 0 is the default value. Currently, a maximum of eight parameter sets are provided (0..7).

`pos_id` 10

Type: USINT

Selected ID in the target memory, represents position or path.

Position/path is activated with op_mode=3|5. Position is written with pos_save=1.

`area_id` 11

Type: USINT

Selected ID in the area memory, represents area or obstacle.

Area is written with area_save=1.

requires license: Areas and Obstacles

`area_groups` 12.0..15.7

Type: BOOL/BIT

Safety area/obstacle groups, used as BOOL ARRAY[0..31].

0 disables groups 0 to 31 respectively
1 enables groups 0 to 31 respectively

requires license: Areas and Obstacles

Reserve Block

`∅` 16..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

As a handshake, Cranium sends back active=1.

`warmup` 32.1

Type: BOOL/BIT

0 normal velocity
1 configured minimum velocity

For example, while drives are magnetizing.

`stop` 32.2

Type: BOOL/BIT

0 axis moves
1 axis stops

Considers sway_damping.

`limit_min` 32.3

Type: BOOL/BIT

0 end position at smallest coordinate inactive
1 end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_min` 32.4

Type: BOOL/BIT

0 pre-end position at smallest coordinate inactive
1 pre-end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_max` 32.5

Type: BOOL/BIT

0 pre-end position at largest coordinate inactive
1 pre-end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`limit_max` 32.6

Type: BOOL/BIT

0 end position at largest coordinate inactive
1 end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`∅` 32.7..33.7

reserve

`vel_tar` 34..35

Type: INT

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

`vel_act` 36..37

Type: INT

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

This value is optional and used internally for verification.

`pos_tar` 38..41

Type: DINT

Target position to be reached in mm (bridge crane) or °/100 (rotary crane).

Activated with op_mode=2.

`pos_act` 42..45

Type: DINT

Actual position in mm (bridge crane) or °/100 (rotary crane).

`∅` 46..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

As a handshake, Cranium sends back active=1.

`warmup` 48.1

Type: BOOL/BIT

0 normal velocity
1 configured minimum velocity

For example, while drives are magnetizing.

`stop` 48.2

Type: BOOL/BIT

0 axis moves
1 axis stops

Considers sway_damping.

`limit_min` 48.3

Type: BOOL/BIT

0 end position at smallest coordinate inactive
1 end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_min` 48.4

Type: BOOL/BIT

0 pre-end position at smallest coordinate inactive
1 pre-end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_max` 48.5

Type: BOOL/BIT

0 pre-end position at largest coordinate inactive
1 pre-end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`limit_max` 48.6

Type: BOOL/BIT

0 end position at largest coordinate inactive
1 end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`∅` 48.7..49.7

reserve

`vel_tar` 50..51

Type: INT

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

`vel_act` 52..53

Type: INT

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

This value is optional and used internally for verification.

`pos_tar` 54..57

Type: DINT

Target position to be reached in mm (bridge crane) or °/100 (rotary crane).

Activated with op_mode=2.

For rotary cranes: 0° is horizontal and 90° is vertical.

`pos_act` 58..61

Type: DINT

Actual position in mm (bridge crane) or °/100 (rotary crane).

For rotary cranes: 0° is horizontal and 90° is vertical.

`∅` 62..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

As a handshake, Cranium sends back active=1.

`warmup` 64.1

Type: BOOL/BIT

0 normal velocity
1 configured minimum velocity

For example, while drives are magnetizing.

`stop` 64.2

Type: BOOL/BIT

0 axis moves
1 axis stops

`limit_min` 64.3

Type: BOOL/BIT

0 end position at smallest coordinate inactive
1 end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_min` 64.4

Type: BOOL/BIT

0 pre-end position at smallest coordinate inactive
1 pre-end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_max` 64.5

Type: BOOL/BIT

0 pre-end position at largest coordinate inactive
1 pre-end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`limit_max` 64.6

Type: BOOL/BIT

0 end position at largest coordinate inactive
1 end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`∅` 64.7..65.7

reserve

`vel_tar` 66..67

Type: INT

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

`vel_act` 68..69

Type: INT

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

This value is optional and used internally for verification.

`pos_tar` 70..73

Type: DINT

Target position to be reached in mm.

Activated with op_mode=2.

`pos_act` 74..77

Type: DINT

Actual position in mm.

`∅` 78..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

As a handshake, Cranium sends back active=1.

`warmup` 80.1

Type: BOOL/BIT

0 normal velocity
1 configured minimum velocity

For example, while drives are magnetizing.

`stop` 80.2

Type: BOOL/BIT

0 slewing gear moves
1 slewing gear stops

`limit_min` 80.3

Type: BOOL/BIT

0 end position at smallest coordinate inactive
1 end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_min` 80.4

Type: BOOL/BIT

0 pre-end position at smallest coordinate inactive
1 pre-end position at smallest coordinate active

This signal is not required if position measurement pos_act is available.

`prelimit_max` 80.5

Type: BOOL/BIT

0 pre-end position at largest coordinate inactive
1 pre-end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`limit_max` 80.6

Type: BOOL/BIT

0 end position at largest coordinate inactive
1 end position at largest coordinate active

This signal is not required if position measurement pos_act is available.

`∅` 80.7..81.7

reserve

`vel_tar` 82..83

Type: INT

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

`vel_act` 84..85

Type: INT

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

This value is optional and used internally for verification.

`pos_tar` 86..89

Type: DINT

Target position to be reached in °/100.

Activated with op_mode=2.

`pos_act` 90..93

Type: DINT

Actual position in °/100.

`∅` 94..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

As a handshake, Cranium sends back active=1.

`active_induct_fl` 96.1

Type: BOOL/BIT

Inductive sensor front left:

0 inactive
1 active

`active_induct_fr` 96.2

Type: BOOL/BIT

Inductive sensor front right:

0 inactive
1 active

`active_induct_bl` 96.3

Type: BOOL/BIT

Inductive sensor back left:

0 inactive
1 active

`active_induct_br` 96.4

Type: BOOL/BIT

Inductive sensor back right:

0 inactive
1 active

`active_laser_l` 96.5

Type: BOOL/BIT

Laser sensor left:

0 inactive
1 active

`active_laser_r` 96.6

Type: BOOL/BIT

Laser sensor right:

0 inactive
1 active

`∅` 96.7..97.7

reserve

`∅` 98..99

reserve

`sensor_induct_fl` 100

Type: USINT

Measurement of inductive sensor front left in 0..255.

`sensor_induct_fr` 101

Type: USINT

Measurement of inductive sensor front right in 0..255.

`sensor_induct_bl` 102

Type: USINT

Measurement of inductive sensor back left in 0..255.

`sensor_induct_br` 103

Type: USINT

Measurement of inductive sensor back right in 0..255.

`sensor_laser_l` 104..107

Type: DINT

Distance from laser to left end of crane track in mm.

`sensor_laser_r` 108..111

Type: DINT

Distance from laser to right end of crane track in mm.

Load Handling

Prefix: load
Bytes: 112..127

requires license: Lidar and Load Collision Prevention

`tongs_spread` 112.0

Type: BOOL/BIT

In trailer mode mode=2, for all tongs of the spreader:

0 closed
1 spread

`∅` 112.1..112.7

reserve

`atl_active` 113.0

Type: BOOL/BIT

0 load coupling detection inactive
1 load coupling detection active

If this value is active and the associated module (ATL) is licensed and enabled, Cranium detects coupled loads such as containers or trailers on freight cars during lifting and signals this to the PLC.

`atl_reset` 113.1

Type: BOOL/BIT

0 no action
1 reset status of load coupling detection

If you are sure that the current lifting process is uncritical and should continue despite the active signal atl_coupled=1 for a detected load coupling, you can activate this signal to reset the detection status.

`∅` 113.2..113.7

reserve

`weight_l_kg` 114..117

Type: DINT

Left-side weight of the load in kg.

The total weight of the load is the sum of the left and right weights. Both values are used by Cranium to improve algorithms for detecting coupled loads.

`weight_r_kg` 118..121

Type: DINT

Right-side weight of the load in kg.

The total weight of the load is the sum of the left and right weights. Both values are used by Cranium to improve algorithms for detecting coupled loads.

`mode` 122

Type: USINT

0 undetermined/changing
1 container
2 trailer

`length` 123

Type: USINT

0 undetermined/changing
1 20'
2 30'
3 40'
4 45' HC
5 45' PW
6 48' HC
7 53' HC
8 2x20'

`attached` 124

Type: USINT

0 undetermined/changing
1 no load attached
2 load attached

`∅` 125..127

reserve

Area Memory

Prefix: area
Bytes: 128..143

requires license: Areas and Obstacles

`∅` 128..130

reserve

`vel_dmps` 131

Type: USINT

0 area is obstacle
else velocity limit in dm/s

`min_x_mm` 132..135

Type: DINT

X-coordinate to be stored in mm, lower boundary of the area.

Both points at (0, 0, 0) to delete.

`min_y_mm` 136..139

Type: DINT

Y-coordinate to be stored in mm, lower boundary of the area.

Both points at (0, 0, 0) to delete.

`min_z_mm` 140..143

Type: DINT

Z-coordinate to be stored in mm, lower boundary of the area.

Both points at (0, 0, 0) to delete.

Area Memory

Prefix: area
Bytes: 144..159

requires license: Areas and Obstacles

`max_x_mm` 144..147

Type: DINT

X-coordinate to be stored in mm, upper boundary of the area.

Both points at (0, 0, 0) to delete.

`max_y_mm` 148..151

Type: DINT

Y-coordinate to be stored in mm, upper boundary of the area.

Both points at (0, 0, 0) to delete.

`max_z_mm` 152..155

Type: DINT

Z-coordinate to be stored in mm, upper boundary of the area.

Both points at (0, 0, 0) to delete.

`∅` 156..159

reserve

Reserve Block

`∅` 160..175

reserve

Reserve Block

`∅` 176..191

reserve

Reserve Block

`∅` 192..207

reserve

Reserve Block

`∅` 208..223

reserve

General
Reserve Block
- ∅ 16..31
Crane/Slewing Gear
Trolley/Boom
Hoist
Slewing Gear (Load)
Track Control
Load Handling
Area Memory
Area Memory
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​

sway_damping 4.1​

pos_save 4.2​

area 4.3​

area_save 4.4​

proximity 4.5​

cartesian 4.6​

height_fixed 4.7​

∅ 5.0..5.7​

∅ 6​

op_mode 7​

param_set 8..9​

pos_id 10​

area_id 11​

area_groups 12.0..15.7​

Reserve Block​

∅ 16..31​

Crane/Slewing Gear​

active 32.0​

warmup 32.1​

stop 32.2​

limit_min 32.3​

prelimit_min 32.4​

prelimit_max 32.5​

limit_max 32.6​

∅ 32.7..33.7​

vel_tar 34..35​

vel_act 36..37​

pos_tar 38..41​

pos_act 42..45​

∅ 46..47​

Trolley/Boom​

active 48.0​

warmup 48.1​

stop 48.2​

limit_min 48.3​

prelimit_min 48.4​

prelimit_max 48.5​

limit_max 48.6​

∅ 48.7..49.7​

vel_tar 50..51​

vel_act 52..53​

pos_tar 54..57​

pos_act 58..61​

∅ 62..63​

Hoist​

active 64.0​

warmup 64.1​

stop 64.2​

limit_min 64.3​

prelimit_min 64.4​

prelimit_max 64.5​

limit_max 64.6​

∅ 64.7..65.7​

vel_tar 66..67​

vel_act 68..69​

pos_tar 70..73​

pos_act 74..77​

∅ 78..79​

Slewing Gear (Load)​

active 80.0​

warmup 80.1​

stop 80.2​

limit_min 80.3​

prelimit_min 80.4​

prelimit_max 80.5​

limit_max 80.6​

∅ 80.7..81.7​

vel_tar 82..83​

vel_act 84..85​

pos_tar 86..89​

pos_act 90..93​

∅ 94..95​

Track Control​

active 96.0​

active_induct_fl 96.1​

active_induct_fr 96.2​

General

`data_id` 0..1

`data_no` 2..3

`control` 4.0

`sway_damping` 4.1

`pos_save` 4.2

`area` 4.3

`area_save` 4.4

`proximity` 4.5

`cartesian` 4.6

`height_fixed` 4.7

`∅` 5.0..5.7

`∅` 6

`op_mode` 7

`param_set` 8..9

`pos_id` 10

`area_id` 11

`area_groups` 12.0..15.7

Reserve Block

`∅` 16..31

Crane/Slewing Gear

`active` 32.0

`warmup` 32.1

`stop` 32.2

`limit_min` 32.3

`prelimit_min` 32.4

`prelimit_max` 32.5

`limit_max` 32.6

`∅` 32.7..33.7

`vel_tar` 34..35

`vel_act` 36..37

`pos_tar` 38..41

`pos_act` 42..45

`∅` 46..47

Trolley/Boom

`active` 48.0

`warmup` 48.1

`stop` 48.2

`limit_min` 48.3

`prelimit_min` 48.4

`prelimit_max` 48.5

`limit_max` 48.6

`∅` 48.7..49.7

`vel_tar` 50..51

`vel_act` 52..53

`pos_tar` 54..57

`pos_act` 58..61

`∅` 62..63

Hoist

`active` 64.0

`warmup` 64.1

`stop` 64.2

`limit_min` 64.3

`prelimit_min` 64.4

`prelimit_max` 64.5

`limit_max` 64.6

`∅` 64.7..65.7

`vel_tar` 66..67

`vel_act` 68..69

`pos_tar` 70..73

`pos_act` 74..77

`∅` 78..79

Slewing Gear (Load)

`active` 80.0

`warmup` 80.1

`stop` 80.2

`limit_min` 80.3

`prelimit_min` 80.4

`prelimit_max` 80.5

`limit_max` 80.6

`∅` 80.7..81.7

`vel_tar` 82..83

`vel_act` 84..85

`pos_tar` 86..89

`pos_act` 90..93

`∅` 94..95

Track Control

`active` 96.0

`active_induct_fl` 96.1

`active_induct_fr` 96.2