In this paper, a PID tuning procedure is developed to control of an overhead crane. To enable the crane to reach a desired position, one must use a controller strategy. This work presents a simple and enough efficient approach to control of the overhead crane based on design of a PID controller. Hence, Ziegler-Nichols method is used to start setting of gains of PID controller, but a tuning procedure is developed to obtain better results. The criterion to tune the PID controller is considered the tracking response of trolley and minimum oscillation of pendulum. Finally, some simulation are performed which discussed the capability of the presented method for control of the overhead crane.