Abstract: The invention relates to a method for controlling a crane, the method comprising comparing velocity requests (Vref) given by a crane control system with a previous velocity request and, if the velocity request is changed, forming and storing an acceleration sequence for the corresponding velocity change, summing the velocity changes defined by the stored acceleration sequences at a particular time and adding the obtained sum (dV) to the previous velocity request to achieve a new velocity request (Vref2), which is set as a new control and velocity request for the crane drives (11, 12), and performing some of the velocity changes defined by the summed acceleration sequences at the definition time of each selected sequence on each program round, i.e. control step, and performing the rest of them as delayed in such a manner that the stored sequence parts to be performed as delayed are read and summed on a plurality of program rounds.

Abstract: A lifting hook is arranged to grab an object to be lifted by a cylindrical lifting surface formed thereto, the lifting hook having a hook shank, a hook part joining the hook shank and a locking device arranged to lock the lifting hook to the object to be lifted. To allow the lifting hook to be reliably attached to the piece to be lifted, a mechanical control device is mounted above the hook part to co-operate with the upper surface of the lifting surface for guiding the hook part to a lifting position onto the lower surface of the lifting surface.

Abstract: A lifting hook is arranged to grab an object to be lifted by a cylindrical lifting surface formed thereto, the lifting hook having a hook shank, a hook part joining the hook shank and a locking device arranged to lock the lifting hook to the object to be lifted. To allow the lifting hook to be reliably attached to the piece to be lifted, a mechanical control device is mounted above the hook part to co-operate with the upper surface of the lifting surface for guiding the hook part to a lifting position onto the lower surface of the lifting surface.

Abstract: The invention relates to a method for controlling a crane, the method comprising defining, at each time, the distance (s) the crane moves before stopping and without swinging of the load fastened to it by summing up a stopping distance (s1), which is calculated on the basis of the internal target velocity, i.e. the velocity which the control of the algorithm implementing this has after the stored velocity changes are entirely implemented, by using the selected deceleration ramp; and a distance (s2), which is calculated on the basis of stored velocity change requests stated before the stopping decision and on the basis of remaining performance times.