Abstract: In a cable-driven three-dimensional crane system, an end-effector is moved within an operating volume defined by dynamically shifting draw points. Winch assemblies pull the end-effector toward the respective draw points. Each winch assembly includes a cable router that manages travel of its drive cable through the associated draw point. Cable length encoders determine the effective length of each drive cable, from which one method of end-effector position calculations can be made. Draw point angle trackers assess the instantaneous lateral and vertical angles of each drive cable as it vectors away from its draw point toward the carrier from which another method of end-effector position calculations can be made as well as enabling self-calibration techniques. Sensitive mechanical and electrical components are sheltered in heated enclosures that wipe debris from the drive cable and track with its changing position. Multi-zone applications allow sharing of winch assemblies.