BouMatic Robotics MR-D1, Service Manual

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Teaching Milking box
Teaching cup positions
Page 14-2 Version 1.7 23 June 2015
14.1. Zeroing the robotic arm positions
Hydraulic viewer You can zero the robotic arm positions from the
hydraulic viewer (see Figure 14-1 ).
Figure 14-1 Hydraulic viewer
Steps To zero the robotic arm positions, follow the
steps in Scheme 14-1 .
STEP ACTION
1. Switch the milking box into
SERVICE
operation mode (see section 5.3 ).
2. Open the
HYDRAULIC
viewer (see section 10.2 ).
3. Switch on the
ENABLE
check box (1) (see Figure 14-1 ).
4. Set the control voltage for all axes to -0.5 volt (2).
The robotic arm will now move to its zero position (most left rear, most
down).
5. Press the
ZERO X
button (3) to zero the x position.
On the screen a dialog appears to confirm this action.
6. Press the
OK
button to confirm zeroing the x position.
7. Repeat steps 5 and 6 to zero the y and z position.
Scheme 14-1 Zeroing the robotic arm positions
1
2
3