BouMatic Robotics MR-D1, Service Manual

Page: 163 / 446

Teaching Milking box
Calibrating Camera
23 June 2015 Version 1.7 Page 13-19
STEP ACTION
Figure 13-27 Calibration tab
8. Change the X and Y coordinates (1) (see Figure 13-27 ) as follows, if
the robot arm does not attach correctly:
CUP IS … CHANGE THE COORDINATES:
behind teat Y+ (increase Y)
in front of teat Y- (decrease Y)
left from teat X+ (increase X)
right from teat X- (decrease X)
WARNING!
Use the arrow keys next to the field for the entrance of
values and not the onscreen keyboard.
WARNING!
 The cow should not move while changing the
coordinates.
 View a number of cows
 Check if the gripper clamps the cup properly (also see
section 25.10 ).
9. Open the
CONFIGURATION
tab (see Figure 13-28 ).
1