Mobile hydraulic cranes play a significant role in dynamic construction sites. With the increased demand for smart manufacturing in the production of large structures such as ships, buildings, and windmills, the need for digital twins (DT) of production systems rises, as well. DTs allow for simulation and monitoring of production processes. Our paper presents a DT of a mobile knuckle boom crane. The system is composed of a mobile knuckle boom crane, a DT-platform and a microcontroller allowing for bidirectional communication between the crane and the DT- platform. In the DT-platform, the desired position of the crane tip can be set in Cartesian space, and the joint values are derived by inverse kinematics. Considering the virtual environment and the control constraints of hydraulic systems, collision free point-to-point motion planning is done. The planned joint positions are piecewise transferred to the microcontroller, which controls the joint positions in real-time via a proportional-integral controller. During the execution of the motion, the physical asset is monitored, and its status is visualized with a digital shadow in the virtual environment. With the introduction of heavy-duty hydraulic equipment into a DT-platform, we enable a data-driven approach to produce large infrastructures, supporting the digitalization of construction workflows.