4.10 CRANE
Specifics for setting up an SMC IMU for crane use, using the configuration software
1. On the Remote Heave tab, when the Remote heave for Crane operations (AHC) check box is
selected, the Crane tab is added and the Remote Heave settings are moved to the new tab.
2. Under the Remote Heave tab, the Center of Gravity/Lever Arm settings mathematically place
the IMU in a “virtual” position from where the Remote Heave calculations will be made.
The setting can be used to place the IMU at the vessel CG. From that virtual position at CG, a
Remote Heave setting can be entered that will represent the distance from the IMU CG
position to the desired heave measurement location, the location of the crane for example.
3. On the Crane tab, The Protocol dropdown allows the selection of:
PENCR for use of hexadecimal values in the crane data strings sent to the sensor
and PENCO for standard text encoder values. These strings are described in 4.10.7
4. On the Crane tab, Crane Type, currently only Rotating crane type can be chosen.
5. On the Crane tab, Angle Unit, choose Degrees or Radians.
6. For a crane that is actually rotating you need to check IMU is mounted on crane base i.e. the
IMU rotates with the crane.
7. On the Crane tab, enter the remote heave settings in accordance with chapter 4.9.11
8. On the Crane tab, if there are offsets in the values that will be sent in the command strings
(this is usually the case) these have to be set in accordance with section Error! Reference s
ource not found.
4.10.1 CRANE ZERO POSITIONS AND OFFSETS
The crane rotation reference zero position is aligned with the vessel fore-aft line, when the IMU is
mounted on the vessel, and towards the crane arm when the IMU is mounted on the crane.
When the crane is pointing, with no offsets entered, to the:
- Fore of the vessel, the encoder should be 0 degrees
- Starboard side, the encoder value should be 90 degrees.
- Port side, the encoder value should be 270 degrees or -90 degrees if the default clockwise
rotation is being used.
4.10.2 IMU MOUNTED ON THE CRANE BASE
When the IMU is mounted on the rotating base of the crane tick the checkbox that the “IMU is
mounted on the crane base” in the configuration software. When this checkbox is ticked the IMU is
assumed to be rotating with the yaw rotation of the crane.
When the IMU is mounted on the crane base the single notch must be aligned with the crane arm i.e.
the single notch is pointing to the boom tip.
The yaw encoder value which is the first encoder input should be left empty or as a value zero in the
input string from the PLC. Example $PENCR,,value2,value3,value4,value5
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