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    7 views11 pages

    US7665620B2

    Uploaded by

    Ebander

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    © All Rights Reserved
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    of 11
    2) United States Patent Morath (5) CRANE (75) Inventor: Erwin Morath, Lateroch (DE) (73) Assignee: “Licbhere-Werk Ehingen GmbH, hinger/Donau (DE) (*) Notice: Suibjoct to any disclaimer, the term of this patent is extended of adjusted under 35 USC. 154(b) by 159 days. (21) Appl. Nos 111638,420 (22) Filed: Dee. 7,2006 6s) Prior Publication Data US 200710156280.A1 Jul. 5, 2007 G0) Forcign Application Priority Data Dee. 8, 2005 (DE) 202005 019 225 U Dee. 30,2008 (DE) 202005 020 482 U 6) Ine. Boo 19/44 (2006.01) (2) US.CL ‘212/276; 212/284; 212/290 (38) Fleld of Classification Search 212276, 212/284, 290 ce application file for complete search history. 36) References Cited USS. PATENT DOCUMENTS HIISL H 61995 Hutchison eta ous 5293900 A * 31904 Karbasi et a unss4 'US007665620B2 US 7,665,620 B2 Feb. 23, 2010 (10) Patent No. 4s) Date of Patent: 5890.87 4 * 411999 Berger al: aise GASLOOT A * 402000 Pouch et a sori102 60562 B2* 42003 Brand etal 18033 FOREIGN PATENT DOCUMENTS be 99 10987 1990 DE sass‘ Si1008, DE t33870 32004 =P ois7274 3/1990 Ge 2360500 972001, * cited by examiner Thomas J. Brahan ‘Steven S. Rui; Dilwort & Primary Examiner (74) Attomes, Agent, oF Firm Bairese 6 ABSTRACT The present invention relates to a crane, preferably a truck crane, comprising a plurality of erane elements which are ‘movable by getuators, a crane control unit for controlling ‘andor monitoring the movement ofthe crane elements, and at Teast one aetating switch for actuating the actuators. In ‘agcordance with the inveation, the eran is characterized ia that in the at least one actuating switch a logie module is integrated, by which the actuators can be deiven directly corresponding to a respective switch movement, and the ‘rae contol unit can be connected with the logic module by ‘data transmission connection 29 Claims, § Drawing Sheets US 7,665,620 B2 Sheet 1 of 5 Feb. 23, 2010 U.S, Patent (amen) (oa jw i oew OD | Gay: % oy Buapabun, cum ‘hoes US 7,665,620 B2 Sheet 2 of 5 Feb. 23, 2010 U.S, Patent U.S. Patent Feb. 23, 2010 Sheet 3 of 5 US 7,665,620 B2 ‘SUPERORDINATE CONTROL US 7,665,620 B2 Sheet 4 of 5 Feb. 23, 2010 U.S, Patent BOVIS ONHOLIMS a | aus | “WiiolLdoeoud woven i tunosed zt ‘pag, 9 Ol aol | nouwauoy | asa ‘Xan BDYITOA WOlLs TOMLNOD ™e U.S. Patent Feb. 23, 2010 Sheet 5 of 5 US 7,665,620 B2 desired value US 7,665,620 B2 1 CRANE BACKGROUND OF THE INVENTION “The present invention rolaes toa exane, preferably arack ‘rane, comprising a plurality of erane elements which are movable by actuators, a rane contro! unit for controlling andlor monitoring the movement of thecrane element, andl least one actuating site for actuating the aetutor. ‘Modem truck cranes usually are provided with multiaxi- ‘lly tltable conto sticks, sometimes also referred to 2 joy” sticks, for controlling the diverse crane elements andior actuators provided for the same, such as the slewing gear, the hoist ger, the telescoping drive or the ling drive. A sensor ‘unit usually is associated to the conte sticks, by means of Which the central erane control detects movements of the respective contol stick, whereupon the central erane control unit converts the movemen! signalsinto contro signals forthe actuators. In other words the positioning movement of the ‘control st fctuators via the central erane control, The setuators fre- ‘quently are of the hydraulic type and are controlled via Ihydralic valves, whose movement is controlled via the con- trol commands peneraed by the rane conto Inpractce, such crane controls have tamed out t be quite usef, but nevertneless they stil need improvement in some aspects and for some applications. In particular, it would be desirable to reduce the costs of such erane contols without having to do without the various functionalities. In adlition, it would bo desiable to nocelerate the conversion of the ‘Switch movements into actual erane movements Therefore itis the object underlying the present invention to creates impmved crane as mentioned above, which over ‘comes the disidvantages of the prior art and develops the Jatter in an advantageous way. Preferably. a less expensive ‘rane contol should be ereated, which provides for a rapid ‘conversion ofthe switch movements info crane movements and offers a high safety. Tn cordance with the invention, this object i solved by 3 ‘rane as desribed herein, Preferred aspect ofthe invention are also deseribed herein, Ths, its proposed to provide the at least one actusting ‘witch itself with sulicient intelligence. inorder toachieveaa autonomous control ofthe respective actuators by the actu ig switch alone. The actuating switch is made sufficiently Jntelfigent, in order to control autonomously and execute & corresponding control program. In accordance with the invention, a logic module is integrated inthe aetuating switch, by means of which the actuators can be actuated directly by the actuating switch corresponding 10 2 respective switch actuation, Thisallows a contol ofthe actuators without inter ‘connection ofthe central crane control. For ths purpose, the logic module has atleast one contol output, via which control ‘commands generated in the actuating switch ean dineetly be provided tothe aetators, The erane control unit merely acts asa superordinateconteol, which through a data transmission ‘connection ean he connected wit the logic module provided Jin the actuating switch, in order to perform superordinate ‘contol tasks, The arrangement of the logie module in the actuating switch and the direct activation of the actuators ‘without detour via the central erane contol, can result in & lower price ofthe contol system, n so faras various compo- nents need not be provided twiee. In addition, safety is increased, asi is not necessary that chain of components between the actuating switeh and the respective actuator is present and works. The speed of conversion, with which the movements ofthe actuating switth are converted into crane ks is converted ito control commands for the > 0 o 2 povemtens, is also increased, as the control signal comes relly fom the switeh and need aot go first through the ceatral erane contol, 'As an actuating switch, there is in particular provided a _nultiaxiallytitable contol stick which hasa bus connection, in onder to permit communication of the integrated logic ‘module with the soperordinate central erane contol unit. It will be appreciated that a plurality of suck actuating switches can be provided, in order tobe able to coatto various acta. tors for various crane elements. For instance, two of such multisially titable contol sticks can be provided, one of Which controls for instance a slewing gear as well asa oist gear ofthe erane, and the other one controls for instance the Inffing gear, the boom telescoping in and out, and possibly another hoist zeae "Advantageously, the atleast one actuating switch including fits logic module and the bus system between switeh and speronlinate crane control computer as well as the drive between swith and actuator are of the redundant andl prefer- ahly diverstary typ. In partiuler, the loge integrated i the at east one actating switch iso the diversitary type, Forthis purpose the logie module ean include two different types of processor, which likewise can incorporate different types of software. With regard to the bus system, which in aecordance ith a development ofthe invention is of the two-channel or ultichanel type, there isadvaatagenusly likewise provided adiverstary configuration, which ean fr instance be imple- ‘mente by’an LSB bus and a CAN bus In principe, a homo- ‘geneous configuration of the logie module integrated in the ‘witch andor ofthe bus system between switch and superor inate rane contol would also be possible. The rdkndant and diverstary configuration, however, not only provides an ‘increased safety, hat alsa a etter enor detcctaility, a ures always can be traced back unambiguously By means of the connection of the superordinate crane control unit to the actuating switeh via the aforementioned bus system, the crane control unit ean provide diverse super- ‘ordinate control functions which go beyond the functions provided hy the logie module integrated in the switeh andor activate, modify or complete the latter, In partieular, any parametrization ofthe respective actuating switch s possible ‘On the one hand, the signal generation effected by the logic smsdulecan be parametrized to theelfect hata backlash of the ‘actuating switch is avoided and 100% switch movement are alvayseonvertedinto 100%craneelement movement.Onthe ‘other hand, there canalso he achieved parametrization of the ‘aetuator travel, which differs from a 1:1 conversion of the ‘switch movement into erane clement movements. For instance, if the lover is moved abruptly, a smooth movement ofthe activated erane element can be achieved va an integra ‘or. Alteratively or in addition, the erane control can also provide a reassignment ofthe contol outputs of the logic ‘dle, so that fr instance according tothe individual desire fof the end user the Xeanis of the actuating switch ean be Sefined as 8 contol axis forthe lufing gear and for another fend user a a control axis fr the hoist gear. In acconlance with a development ofthe invention, the at Jeast ane actuating switch can inhude a vibrator, which pro- vides a feedback as tothe response ofthe crane movement, ‘order give a crane operator a feeling as to when and to what extent the lever movement is converted into a crane move- ‘ment. In paticular the vibrator inthe actating switch can be configured 30 a8 t be driveable and parametizable by the superordinate crane control unit va the bus system. Via the central erane contol itisdetermined,forinstance, how strong, ‘the maximum vibration ior bow fast the vibration is increas jing to the maximum value US 7,665,620 B2 3 In accordance with a development of the invention, the allocation of the axes ofthe setuating switch can be para- ‘etrized by the cena crane conte via the bus system, The functionality ofthe lever thereby ean be modified, so that additional control tasks ean be performed by the sume acti ing switch. The contol output ofthe switch do not neces sarily act only on the valves ofthe actuators, which usually should be controled by the actuating switch, but the signals generated viathe corresponding controtoufputs ofthe swith ‘can be withdraw frm the central crane control unt and be ‘sed forother contol asks, Ths, the cental control uit for jnstance upon actuation of a corresponding change-over ‘witch, can use the contro! outputs ofthe at which are actually provided fr telescoping ot ‘extending sliding heams for supporting the undercarriage Advantageously a ramp contol ofthe proportional outputs ‘of the switch can be driveable and or parametrizabe by the ‘uperordinate erane control unit via the bus system in accor dance with another preferred embodimentof the invention. In, particular, in accordance witha development the invention, the aetivationof the end stages, which ultimately also provide {or an actuation ofthe valves of te hydraulic aetuators, can als be elfocted by the rane contol means, i. the control ‘commands are rerouted via the erane contr. On the one hang, thisallows eg a reassignment ofthe end stage outputs ‘On the other hand, the mapnetic foxes, the characteristics ‘or the so-called dither activation can be influenced and parametrized via the bus system. Diverse characteristics can be stored inthe logie module ofthe actuating switch. Via the ‘rane control unit, the respective characteristic desired is activated. By means of the crane control, an integrator can ‘also be interconnected via the bus system, which for instance ing switch as desired into the semators. In sovondance with a development of the invention, the Jogie module inthe atleast one actuating switch has a speci- fied deft setting, which for instance in the ease ofa flare ‘of the central erane contol provides for an operation of the fsctuators independent af the main computer. Upon failure of the bus system and/or the centeal erane contro, the aetsting ‘switch ean operate the crane attonomously. By means ofthe Specitied default setting it ean be ensued tat inthe mannee ‘ofan emergency operation only quite slow crane movements ‘orerane movements ina certain ditection are posible, Thea, be provided, for instance, that ia signal from the bus system ‘oF from the central crane control is missing, only the slowest ‘age of movement can be activated. From the control logic stored inthe logie module, a parameteization is selected for the emermency operation In accordance with a development ofthe invention, contol ‘commands are possible both from the actuating switch and from the superordinate crane control unit for actuating the ‘actuators. Advantageously, the smallest controlcommand has privity, whereby funetions such as limitation ofthe working range, performance limitation and any hydraulic proportions and hence speeds ofthe individual movements ean be in= ‘enced hy the superoninate contol, Expressed in oer Words this means that imitation of the swite signals by the erane ‘control unit can be provided. Thereby, an elecironic load sensing can beachieved via parametrization of the actuating Switch, The superordinate erate coateol unit always limits the ‘contol signals outpt by the actuating switch for driving the ‘actuators such thatthe available hydraulic power i appropri Jy distributed over the various loads The actuation ofthe ‘etuators i adapted to the available hydraulic power. In accordance with a development of the invention, the ‘contol commands of the actuating switch and of the louie 0 o 4 nodule integrated therein ean be deactivated partly or com= pletely. Via the bus system, the superonlinate control can Giretly set onthe actuators, by bridging the actuating wie orthe logic integrated therein, sto speak. Radio contolsand Automatic controls ean be implemented inthis way, For this purpose the superondinate control effects a disconnection oF the logic module end stages from the actuators via the bus system, whereby the actuating switch is switched dead, sot0 speak. Signals from the erane contol can be supplied dirty fo the actuators, In aevordance with a development of the invention, che logic module integrated inthe a least one atuating switch is freely programmable. In particular, the logic module ean include a comesponding microprocessor, into which any pplication programm can be loaded via the bus system. A host computer moves control program into the logic module ‘ofthe actuating switch, s0 that the samecan execute control algorithm as desired. In this way, autonomous contrl fune- ‘ions can be implemented in the actuating switch. BRIEE DESCRIPTION OF THE DRAWINGS. ‘The invention, will subsequently be explained in detail with reference 10 a preferred embodiment and associated drawings, in Whiebs FIG. I: showsa schematic circuit diagram ofthe contro of ‘crane in accondance with & preferred embodiment of the FIG. 2: shows a schematic representation of «truck crane, in which the contol shown in FIG. 1 can be implemented, FIG. 3: shows a schematic circuit diagram ofthe control ‘serane from the preceding Figure in accordance with nother preferred embodiment of the invention, nwhichaplurality of frame sensors are connected with the logic madules of the ‘actuating switches via one bus system each, FIG. 4: shows a schematic circuit diagram ofthe controlof ‘crane from FIG. 2 in accordance with smother preferred embodiment of the invention, in whieh the logic modules of the actuating switches are connected with the valves of the actuators by a two-channel connection to which a diagnostic ‘device is connected, and FIG. §: shows a diagram of the time course of the drive ceurent for an actuator, in which a constant current is pro- vided, and via the consianteuereat a dither witha frequency of variable amplitude is modulated and controlled. DESCRIPTION OF THE PREFERRED EMBODIMENTS. Ina manner Koown per se, the crane shown in FIG. 2 comprises an undercariage 1 constituting a track, on which anuppereasriave 2s rotatably mounted about an upright axis. (On the upperearriage 2, a telescopic boom 3 is pivotally ‘mounted for Tulng up and down about horizontal llfing axis, and on the boom 3 2 non-ilustrated folding tip can be provided. For moving the various crane elements; diverse actuators are provided, which are not illustrated spocifially and preferably can be of a hydraulic type and ean comprise a slewing gear, at least one hoist gear, telescoping drive, a Iufling drive os well a a folding-tip deve ‘As shown in FIG. 1, the crane 4 comprises & central erane control unit §, which includes a main eomputer by means oF ‘whieh in pareular a monitoring of the load capacity is per ormed anda superondnate control ofthe erane elements ean be effected, The rane control unit Sis povided with a sensor ‘uit 6 for monitoring tae movement of the ean clement as well as the loads, As shown in FIG. 1, the sensor unit 6 ean US 7,665,620 B2 5 ‘comprise diverse sensors 7, which detect the position ofthe ‘ran elements andor of the actuators provided therefor a= well as the loads ating om the crane elements, These sensors 77 can include for instance a wineh rotation transmitter 8 associated to the hoisting wineh, an angular rotation tans> miter 9 associated to the slewing gear for tating the upper ‘cartiage 2. well as length/angle transmitter 10 for detect- ing the postion ofthe telescope. boom 3. ‘nthe illustrated embodiment, the actuators each areof the hydraulic type, and their movement is controlled by one hydraulic valve 1 each. As shown in FIG. I, there is provided ‘one hydraulic valve 11a forthe slewing gear, one hydraulic valve 11 fora second hoist gear and one hydraulic valve He ora first oist gear a well as one hydraulic valve Md forthe telescoping drive, onehydraulic valve He forthe Tufing drive aswellasone hydraulic valve 11/for actuating the folding ip, “The actuators are fed via hydraulic pamps 12, wherein advan- tagcously a hydraulic pump of variable absorption volume ‘can be used in order o be abe to adjust the hydraulic power, ‘which can for instance be effected viaahyuaulic feedback 13, ‘of the consumers onto the actuating lever ofthe pump. Said hydmulic valves 11 can heactvated by two actuating switches 14 in the form of mulisxilly: movable control Sticks. Said conto sticks 14 each comprise programmable Jogie module 15 with one activation end stage each, which allows to autonomously activate the hydraulic valves 11 by movements of the actuating switches 14. As shown in the Figure, the contro outputs ofthe end stages of the respective logic module 15 are each connected with one ofthe hydraulic valves 11, so that a prodetennined switch movement is con- verted by the logie module 15 into a comesponding postion- ‘ng movement of the respective hydraulic valve 1. In the iMlustrated embodiment, the one actuating switch Ma is Tinked with the hydraulic valve 11 forthe slewing gear and thelydraulie valve 11 forthe seoond hoist gear, whereas the ‘other actuating sitch 14s inked with the hydraulic valves eto 11ffor the hoist gear, the telescoping drive, the lufling drive and the folding-tip dive. I will be appreciated, how= ‘eve, that this division ean be made in a diferent way. Ia ‘dition, the linkage can he changed as described above via @ Pranctrization or reassignment of the contol outpats by the ‘entra erane control unit 8 ‘Said central erane contol nit Sis connected with each of the two actuating switches 14 va one bus system 16 each, in fonder to execute the superondinate control functions ‘described above and he able to intervene i the conto fne= tionof the logic modules 15. Advantageously, thebus systems 16 each are ofa two-channel type in order to achieve redun- dance. In particular, a diverstary configuration is provided, which in the illustrated embodiment is implemented by a LSB bus anda CAN bus, Advantageously, the logic modules 15 also have twa diferent types of microprocessor ‘By means ofthe logie module 15 integrated in the actuating switch 14, the actuators can be aetuated by the actuating switches 14 autonomously: je without interconnection ofthe ‘central eraue control unit 18. On the other hand, the bus ‘connection beswcen the atuating switches 14 and the central ‘contol unit allows a superimposed or superordinate contol ‘of the actuators by means ofthe eeatral crane contol unit 5. Indetail,refereace is made othe inttoductory description of the superondinate contol functions executed by the central ‘rane control unit 8, ‘Advantageously, the drive stages and/or connections between the actuating switches 14 and the hydraulic valves 11 0 6 are of two-channel and/or diversitary type, The same is true lor the connections between the sensors 7 and the eental «rane control unit. Both can be implemented by a differently ‘configured two-channel bus ster, Asis furthermore shown in FIG. La safety valve 17ean be actuated directly via the central crane control unit 8, i. by bridging the actuating switches 14, in order to shut off for, insane the aemator when the lad limits are reabed. Via a remote control module 18, which is connected with the cen- ‘nul erane control unit, a remote congo] ofthe actuators ean be implemented via the erane control unit S and the bus system 16. As shown in FIG. 3, the sensor unit 6 with its diverse sensors 7 cannot only be connected with the superordinate ‘rane contol unit, but also with the logic modules 1S ofthe actuating switches 14. Inthe embodiment illustrated in FIG. 3. the sensors 7 are connected with both logic modules 13 of ‘hetwo actuating switches 14 via bus systems. Inaddition, the sensors 7 are also directly connected withthe superordinate ‘control 5 via corresponding bus systems. Due t the direct ‘ennection of the sensor unit 6 also to the logie mexdules 18, the same can process the sensor signals which they require for driving the actuators 11, possibly also by bypassing the super- ‘ordinate conto 8. FIG. 4illestates» particular configuration ofthe drive of the actuators LT by the logie mocisles 18, namely by a two- channel connection ofthe logic modules 15 with the core- sponding valves of the actuators 11. FIG. 4 shows a logie medial 15, wherein two processor systems receive a come sponkling input from the contol stick via one separate trans- ‘ereieh, when the contr stick s moved Via proportional sags, the processor systems are connected with the respec- tive valves of the acmators 11 ia the ilustrated way. To the proportional stages, diagnostic devices can be connected as js shown inthe enlarged representation ofthe proportional stages In the two-channel drive of the atuators, creat conto can advantageously be effected via one channel, whereas enabling is effected via the second channel. ‘The drive pref- ‘erably is configured such that both the flowing eurrens and the vollapes applied can be read back whereby high detee- ‘ion of eros, such as wire ruptures, short circuits, a wrong valve conscotion, et. is achieved. Asis illustrated in FIG, , the drive ofthe valves ofthe actuators 1 is effected such that a constant current is pro- vided by means ofa pulse wid modulation with constant frequency and onto the same a dither with a frequency of variable amplitede is modulated and controled. Preferably, a transient behavior ofthe dither is provid, so thatthe dither amplitudes inflveneed whe the constant curren is changes Asis shown by the lower representation ofthe actual valve of the cureat in accordance With FIG. 8, vious dither aml tudes are superimposed on the drive current ln the fst por- ‘ion of constant drive current, a mean dither amplinde is provided, whereas in the succeeding portions a small ampli tude is provided. Finally, large amplitude is provided inthe illustrated last portion ofthe current path In this way, an optimum, sensitive dynamic drive of a respoctive hydraulic valve ofan actuator 11 is possible with ‘an optimized hysteresis To achieve that the flowing currents and the voltages applied can be ead back as mentioned above, the contol ean include means forreconding the respectively flowing curen US 7,665,620 B2 7 ‘and the voltages applied as well as means for allocating the recorded values to one oF more control commands, $0 that it ‘ean be checked or read hack into which currents and whieh voltages a respective control command ls been converte. ‘This provides for a complete error diagnosis. Advaata- _2cously the recorded curent and voltage valves allocated to the control commands are provided so as to be retrievable from the conto}, so that they can be read out via control Jmerface or ean possibly also be displayed by the control itelt Preferably; between the logic module 18 and the actuators there is each provided a two-channel or multi-channel andor diverstary driving stage and/or data andor signal transmis sion connection 20, ‘The crane control unit peeferably includes a curve-changing module for changing the signal ‘course provided by the logic module 18 of the actuating switch 14. Additionally, the crane control unit § preferably ‘nchides an allocation module, by wich the signals provided by the logic module 15 of the actuating switch 14 ean be ‘withdrawn from an setuator ofthe crane and be supplied t0 nother actuator “The invention claimed is: 1. A erane, comprising plurality of erane elements which are movable, actuators arranged to move the erane elements, ‘crane control uit for at least one of eoatelling and ‘monitoring the movement of the crane elements, and at least one actuating switch for actiating the atuators, wherein inthe at least one actuating switeh, a logic ‘module is integrated, by which the actuators are directly Arivable comesponding to a respective switch move- thelogic module is connected witha plurality of sensors for at leas one of Jeecting crane movements, monitoring crane movements, dotecting load conditions and moni- toring load conditions, the logic module effective to directly drive the actuators ‘based on sensor signals received from the plurality of sensors, and ‘the crane contol unitis connectable withthe logic module bya data transmission connection 2. The erane as claimed in claim 1, wherein the actuating switch constitutes a muliasally movable, control sick and ‘includes at least one bus connection for communication with theemane control unit 3. The crane as claimed in claim 1, wherein the logic mxileisof the diverstary type nd has two different types oF processors, 4. The erane a claimed in claim 1, wherein the data trans mission connection between the crane control unit and the Jogie module i @ two-channel or multi-channel bus system Which bas a diversitary structure S. The crane as claimed in claim 1, wherein between the Jogie modileand the actuators, there seach provided at least ‘one ofa two-channel signal transmission eonneeton, mult ‘channel signal transmission connection, diversitary driving ‘age, da signal transmission coanection and signal trans- 6. The crane as claimed in claim 1, wherein the logic module is configured to be driveable and parametrizable hy the crane control unit 7, The erane as claimed in claim 1, wherein the logic rmodile has at least one signal output, which is limitable by the crane control unit, 0 o 8 8, The crane as claimed in claim 1, wherein the erane ‘control unit includes # parametrization module for parame ‘izing signals provided by the logic module of the setuating switch, 9. Tho crane as claimed in claim 1, wherein the erane contro ‘nit is effective to change signal couse provided by the logic module of the actuating switch using integration, 10. The crane as claimed in claim 1, wherein the erane ‘control units effective to change signal course provided by the logic module ofthe actuating switeh using eurve ehang- ing. 1, The crane as claimed in claim 1, wherein the erane control unit is effective to disable signals provided by the Jogie module ofthe actuating switch 12. The crane a8 claimed in claim 1, wherein the erane control units effective to withdraw signals provided by the logic module ofthe actuating switch from an actuator ofthe crane and supply the signals provided by the logie module to ‘another actuator. 13. The crane as claimed in claim 1, wherein the crane ‘control unitisefectiveto enable atleast one of characteristics fd drive fintions stored inthe logic module 14. The crane as climed in claim 1, wherein a vibrator is provided on the actuating switch, which is conigured to be paranerizabe via a hus connection ofthe actuating switch, 18. The crane as claimed in claim 1, wherein the logic meddle includes at least one microprocessor into whieh an application program ean be imported viaa bus connection of the actuating switeh 16. The crane as claimed in claim 1, wherein a priority ‘control is provided in at Teast one of the logic mode and ‘rane control uni, sich that in the case ofthe simaltaneots existence of a control command signal from the actuating Switch and a contol signal from the crane control uni, smaller one ofthe two contol signal has priory, 17. Theeraness claimed inelaim I, wherein superimposed ‘control functions are provided in the erane contol unit for at Teast one of completing, modifying and replacing contol funetions sfored inthe logic module ofthe actuating switch 18, The crane as claimed in claim 1, wherein the crane control units connected with plurality of sensors forat least fone of detecting and monitoring at leas one of crane move- ‘mes and lod conditions, 19, The crane as claim in claim 1, wherein the actuators ‘are hydraulic and each controllable by at least one hydraulic valve whichis activatable by the logie module ofthe atleast ‘one setuating swith, 20, The crane a8 elsimed in claim 1, wherein the logic ‘mexle is connected with the plurality of sensors via atleast fone bus system. 21."The eraneas claimed inlaim 1, whereinat leastoneot the logic module ad crane contol unit ineludes drive means for a multi-channel deve of the actuators, the drive means comprising firs channel frat least one of curren eguation fd contol anda seeond channel for enabling. 22. The crane as claimed in claim 1, wherein a diveof the actuators is configured such that a constant curent is pro- Vided by a pulse wits modulation with coastal frequency and via constant eureat a dither witha frequency of vaiabie amplitude is modulated and controlled. 23. The crane as claimed in elim 22, wherein a change of dither amplitude is provided when the constant cureat is changed. 24, The crane as claimed in elaim 23, wherein the dither amplitude is changeable in dependence on a change of the fonstant current US 7,665,620 B2 9 10 25, The crane as claimed in clim 1 wherein adrive of the 28, The rae as claimed in claim 27, wherein the contol read-back is provided for the actustors stick is tiable 26, The crane as cuimed in elaia 25, further comprising means for recording currents andlor voltages provided by

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