BouMatic Robotics MR-D1, Service Manual

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Teaching Milking box
Teaching teat positions
23 June 2015 Version 1.7 Page 15-7
Z position For the Z position, move the robot arm until the
laser beam is 1,5 à 2 cm above the teat point
(see Figure 15-2 ).
Figure 15-2 Z position
Re-teaching If the cow moves when teaching the front teats,
you have to re-teach them.
If the cow moves after teaching the front teats,
try to teach the original positions of the rear teats
(these are the rear teat positions before moving),
so that the mutual distances don’t deviate.
Re-teach all teats, if this is not possible.
Steps To move the robot arm to the correct position of
the teat, follow the steps in Scheme 15-2 .
STEP ACTION
1. Switch the milking box to
AUTOMATIC
control mode .
2. Let a cow enter the milking box, wait for the
TEACHING
status.
3. Press the
TEACH
button once.
The laser beam is on now.
4. Press and hold the
JOG
button, while using the buttons to move the
robot arm to the desired position.
5. For the front teats, press the
P
button the required number of times,
until it points to the teat position you are teaching.
6. Move the robot arm (see step 4 ) until the gripper is positioned at the
position as shown in Figure 15-1 .
7. Move the robot arm (see step 4 ) until the gripper is positioned at the
position as shown in Figure 15-2 .
8. Use the button to confirm the desired teat position.
9. Repeat steps 4 up to 8 to teach the next teat position.