BouMatic Robotics MR-D1, Service Manual

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Teaching Milking box
Teaching teat positions
Page 15-6 Version 1.7 23 June 2015
Advised teaching
sequence The advised teaching sequence is like the
sequence of pre-treatment (see
Figure 15-1 ).
However, any other sequence is possible as well.
Figure 15-1 Sequence of teaching and X and Y position
Sequence X, Y and Z
position
You have to determine first the X and Y position,
then the Z position.
X position For the X position, move the robot arm until the
gripper is positioned as described below (see also
Figure 15-1 ):
 For all teats: align the middle of the gripper at
a distance not more that 2,5 cm from the teat.
Y position For the Y position, move the robot arm until the
gripper is positioned as described below (see also
Figure 15-1 ):
 For teat RF1 : position the left front of the
gripper at a distance not more than 2,5 cm
from the teat.
 For teat LF2 : position the right front of the
gripper at a distance not more than 2,5 cm
from the teat.
 For teat LR3 and RR4 : position the front of
the gripper at a distance not more than 2,5
cm from the teat.