The attached model contains a basicTE to mimic some operations of a Tower Crane. You should be able to use it like any other task executer.
Labels on the crane allow the speeds and operating heights to be altered.
To change the jib/beam length use the label parameter and it will apply at reset. Similarly, to change the height for now just change the tower height and press reset to have the rest attached at the correct height.
Update:
Added a user library that will scale the crane based on the model units. Also changed some labels so that rotational speed is specified there and the jib/beam now uses the object properties for max speed and acceleration.
