Kumamoto castle was damaged by big earthquake disaster in 2016. We have studied to archive precise 3D-stone data of the stone walls called ISHIGAKI because it should be useful for the renovation and the collapsing analysis of ISHIGAKI. For an efficient renovation, 3D-stone data should be obtained in a short period. The small control moment gyro (CMG) device was prototyped, and the robust controller with a model error compensator was applied to CMG. In this paper, automatic motion planning of CMG crane for high-precision 3D modeling is expeimented. The markers are attached on the stone to calculate the optimal pause of 3D-scanner by using LiDAR, The effective archiving procedure of 3D-stone and the mesuement accuracy are evaluated by an experiment using the mesuement system.