Electrification of mobile cranes involves a transition from valve-based motion control to direct-driven hydraulic actuation. Such systems are characterized by high energy efficiency and the capability for energy recuperation. This paper describes further development of the method for building energy-efficient trajectories for mobile cranes proposed by the authors in another study. Initially created and tested with conventional hydraulic systems, the method is modified for the cranes equipped with direct-driven hydraulic systems. The method consists of two steps. The first one is the simulation-based calculation of the weight matrices for the path planning algorithm. They comprise data on energy consumption for crane tip movements in different directions and allow adjusting the method to the particular machine. The second step represents the application of the path planning algorithm for building energy-efficient boom trajectories in real time. A necessary condition for the method is the availability of a position control system for the crane to automatically follow the generated path. An example of such a system for the mobile log crane is considered. The paper also discusses additional opportunities that direct-driven hydraulic systems provide for energy savings through the use of efficient trajectories compared to traditional valve-based hydraulics.