Each crane has four iFLEX E2 mobile control units with powerful 32 bit microprocessors and an iSCOUT IK 1380 QVGA console, that are networked to each other using CANopen technology. Individually configurable inputs and outputs allow conventional sensors and actuators to be connected. Intelligent sensors and actuators can be contacted via two integrated CAN bus interfaces. Proportional valves can be connected directly by using controlled PWM outputs with internal back current measurement without additional amplifiers. The mobile control units also have interfaces to provide up to eight inputs and four outputs for additional modules where the control units can be modified at any time to meet customer-specific requirements.An RS232 and a 10BASE-T interface are used for servicing or programming. The application software can either be developed in the C high level language or with an SPS programming system that complies with IEC61131-1.
