BouMatic Robotics MR-S1 User manual

Service Manual
Original Service Manual
Version 1.7
23 June 2015

BouMatic Robotics B.V.
Transportweg 6
8304 AX Emmeloord
The Netherlands
Telephone: [phone]
Fax: [phone]
E-mail: [email protected]
URL: www.boumaticrobotics.com
Copyright © 2015, BouMatic Robotics B.V., Emmeloord
All rights reserved.
No part of this publication may be reproduced, transmitted, transcribed, stored in a retrieval
system, in any form or by any means, electronically, mechanical, photocopying, recording or
otherwise, without the prior written consent of BouMatic Robotics B.V.This also goes for the
matching drawings, photo’s and diagrams.
BouMatic Robotics B.V.reserves the right to make changes to parts on every moment, without
prior notice to the customer. The contents of this manual can also be changed without prior
warning. For information concerning adjusting, maintenance or repair in which the manual does not
provide, you will be asked to contact the technical department of your supplier.
This manual is compiled with all possible care, but BouMatic Robotics B.V. cannot take
responsibility for possible mistakes in this manual or for the consequences there from.

Service Manual
Revision page
23 June 2015 Version 1.7 Page i
REVISION PAGE
Version 1.0
First book
Version 1.2
Other BRI pictures with new features.
TREATMENT option deleted.
Description WAITING ROOM report.
Description CALENDAR report.
GATE IN / GATE OUT settings.
Version 1.3
Renewed BRI application
Added appendices:
Appendix A: Numbers in viewers
Appendix B: Wear parts
Appendix C: Consumables
Version 1.4
New photos
Adjusted specifications
Moved to User’s manual:
Checking cow box gates
Checking vacuum pressure
Checking air pressure
Checking sprayer tank pressure
Replacing milk hoses
Lubricating robotic arm guides
Lubricating feeding trough guides
Updated Part III –Teaching Milking Box

Service Manual
Revision page
Page ii Version 1.7 23 June 2015
Version 1.5
Waiting room is now selection room
Version 1.6
Added Closing Bri application
Added Camera calibration
New maintenance schedule
Version 1.7
Other pictures emergency stops
New safety symbols
Added photos with position new safety symbols
Two post treatment sprayers on attachtool
New stickers for operating switches
Other picture teach pendant
Other pretreatment cup
Other milking cups
Added Spray robot setting
Added Double filter setting

Service Manual
Table of Contents
23 June 2015 Version 1.7 Page iii
TABLE OF CONTENTS
Foreword ------------------------------------------------------------------------------v
I GENERAL INFORMATION
1. Product information ------------------------------------------------------- 1-1
2. Safety---------------------------------------------------------------------- 2-1
3. Transport, storage, dismantling and disposal---------------------------- 3-1
II OPERATIONS FROM BRI
4. General information ------------------------------------------------------- 4-1
5. Operating box ------------------------------------------------------------- 5-1
6. Managing cows ------------------------------------------------------------ 6-1
7. Consulting attentions and reports ---------------------------------------- 7-1
8. Setting system ------------------------------------------------------------ 8-1
9. Operating milking box parts manually ----------------------------------- 9-1
10. Controlling system -------------------------------------------------------10-1
11. Setting stations-----------------------------------------------------------11-1
III TEACHING MILKING BOX
12. Teach pendant------------------------------------------------------------12-1
13. Calibrating Camera-------------------------------------------------------13-1
14. Teaching cup positions ---------------------------------------------------14-1
15. Teaching teat positions --------------------------------------------------15-1
IV CONNECTION AND COMMUNICATION OVERVIEW
16. Connection----------------------------------------------------------------16-1
17. Communication-----------------------------------------------------------17-1

Service Manual
Table of Contents
Page iv Version 1.7 23 June 2015
V MAINTENANCE
18. General information ------------------------------------------------------18-1
19. Service: Commissioning, 1, 2, 3, 4, 5, 6, 7 and 8----------------------19-1
20. Service: Continuation 2, 4, 6 and 8 -------------------------------------20-1
21. Service: Continuation 3 and 7 -------------------------------------------21-1
22. Service: Continuation 4 and 8 -------------------------------------------22-1
23. Service: Continuation 5 --------------------------------------------------23-1
24. Service: Continuation 1 --------------------------------------------------24-1
25. Every service -------------------------------------------------------------25-1
VI APPENDICES
26. Appendix A: Numbers in viewers ----------------------------------------26-1
27. Appendix B: Wearing parts ----------------------------------------------27-1
28. Appendix C: Consumables -----------------------------------------------28-1
VII INDEX

Service Manual
Foreword
23 June 2015 Version 1.7 Page v
FOREWORD
Target
This training guide gives instructions regarding
the operation and maintenance of the milking box
Target group
This guide is intended for service technicians that
perform maintenance and repair on the milking
box.
Knowledge and
experience level
Only qualified technicians are allowed to perform
service and repairs.
Contents of this manual
Table 1-1 shows an overview of the chapters in
this manual.
Table 1-1 Contents manual
PART
TITLE
DESCRIPTION
I
General information
Gives information about the requirements
demanded of the user. Technical properties and
safety aspects of the milking box are also shown
here.
II
Operations from
BRI
Describes how to use the BRI application to set
the milking box.
III
Teaching Milking
box
Describes how to teach the cup and teat
positions, using the teach pendant.
IV
Connection and
communication
overview
Describes the connection and communication
settings.
V
Maintenance
Describes maintenance instructions of the milking
box and robot, to be performed by a service
technician.
Suggestions for
improvement
Any suggestions for the improvement of this
manual are welcome.
See section 1.2 for contact details.

General information
Overview
23 June 2015 Version 1.7 Part I
IGENERAL INFORMATION
1. Product information ------------------------------------------------------- 1-1
1.1. Technical properties ---------------------------------------------- 1-1
1.2. Contact details ---------------------------------------------------- 1-2
2. Safety---------------------------------------------------------------------- 2-1
2.1. Emergency stop--------------------------------------------------- 2-1
2.2. Entrance door ----------------------------------------------------- 2-3
2.3. Safety regulations while using milking box ---------------------- 2-4
2.4. Safety regulations during maintenance-------------------------- 2-6
2.5. Safety symbols---------------------------------------------------- 2-8
2.6. Position of safety symbols on the milking box------------------2-10
3. Transport, storage, dismantling and disposal---------------------------- 3-1
3.1. Transport precautions -------------------------------------------- 3-1
3.2. Hoisting ----------------------------------------------------------- 3-2
3.3. Storage------------------------------------------------------------ 3-4
3.4. Dismantling and disposal ----------------------------------------- 3-4

General information
Product information
23 June 2015 Version 1.7 Page 1-1
1. PRODUCT INFORMATION
1.1. Technical properties
Table 1-1 Specifications
TYPE: MR-S1
UNIT
VALUE
DIMENSIONS
Height
[mm]
2400
Length
[mm]
5450
Width
[mm]
2200
Netto weight
[kg]
2600
ELECTRICITY
Net connection
[V], 3LNPE
400
Frequency
[Hz]
50
Max. power
[kW]
11
Max. current
[A]
22
IP
55
GENERAL
Loudness during production
[dB(A)]
70
Ambient temperature in use or by storage
[ºC]
+5 till +35
Network connection
[Mbit/s]
100/1000
Air filtration
[μm]
40
Air pressure
[Bar]
6
Air flow
[l/min]
150
Connection to drinking water
[l/min]
18
Water pressure
[bar]
2,5
Max. water hardness
dH / fH
4-8 / 7-15

General information
Product information
Page 1-2 Version 1.7 23 June 2015
1.2. Contact details
Manufacturer
BouMatic Robotics B.V.
Address
Transportweg 6
8304 AX Emmeloord
The Netherlands
Phone
[phone]
Fax
[phone]
E-mail
[e-mail]
URL
www.boumaticrobotics.com

General information
Safety
23 June 2015 Version 1.7 Page 2-1
2. SAFETY
Introduction
In this chapter you find information on all safety
aspects.
2.1. Emergency stop
Description
The milking box has two emergency stop buttons
(see Figure 2-1), to stop the milking box in case
of emergencies.
Figure 2-1 Emergency stop buttons
Emergency stop button
on milking box
One emergency stop button (1) (see Figure 2-1)
is located on the outside (1) (see Figure 2-2) of
the milking box below the touch screen at the
entrance door to the robot area.
Figure 2-2 Emergency stop button on milking box
1
2
1

General information
Safety
Page 2-2 Version 1.7 23 June 2015
Emergency stop button
on teach pendant
The other emergency stop button (2) (see Figure
2-1) is located on the teach pendant (1) (see
Figure 2-3).
Figure 2-3 Emergency stop button on teach pendant
Use the emergency stop ONLY in emergencies
and NOT as an off switch.
Meaning emergency
An emergency is understood as:
When someone is exposed to potential injury
due to their proximity to the milking box.
Technical problems with milking box parts,
whereby this can potentially lead to damage
to these and others parts.
Effect using emergency
stop button
If you use the emergency stop button, the
hydraulic will remove from the system. This will
result in moving the robotic arm vertically
downwards to its lowest position.
You can move the robotic arm manually with
your hands.
You can remove a teat cup from the gripper
and/or hang the teat cups with the
corresponding buttons on the teach pendant.
1

General information
Safety
23 June 2015 Version 1.7 Page 2-3
2.2. Entrance door
Description
The technical area is secured by an entrance door
to prevent that someone enters the area when
the robot is working. A safety switch (1) (see
Figure 2-4) in the entrance door ensures that the
milking box is switched off, as soon as someone
opens the entrance door.
Figure 2-4 Entrance door
Additional information
Table 2-1 shows an overview of sections with
additional information on the entrance door.
Table 2-1 Additional information
LOCATION
DESCRIPTION
User’s manual
Starting after opening entrance door
1

General information
Safety
Page 2-4 Version 1.7 23 June 2015
2.3. Safety regulations while using milking box
Unsafe areas
Figure 2-5 shows the unsafe areas of the milking
box, especially in AUTOMATIC operating mode.
You should always switch the milking box in
MANUAL or SERVICE operating mode, when you
enter one of these areas.
Never stay longer than necessary in these areas.
Figure 2-5 Unsafe areas
Table 2-2 Unsafe areas
NO.
COMPONENT
DESCRIPTION
1
Gates
Open automatically (left and right side).
2
Feeding trough
Moves automatically.
3
Cow tracker
Moves automatically.
4
Technical area
Contains the robotic arm, which makes
unexpected movements in AUTOMATIC control
mode.
3
4
2
1

General information
Safety
23 June 2015 Version 1.7 Page 2-5
Milking box users
The milking box and robot should only be
operated by trained and qualified personnel.
Unauthorized persons
Do not permit any unauthorized personnel,
children and animals in the neighbourhood of the
milking box, especially when the entrance door to
the technical area is open.
Cows
Your cows can panic or become stressed by noise
and movements in the milking box during
automatic milking. By panic or stress they can
wound themselves.
So give cows enough time to be familiarised with
the milking box.
Floor milking box
Always ensure that the floor is clean, to prevent
it becomes slippery.

General information
Safety
Page 2-6 Version 1.7 23 June 2015
2.4. Safety regulations during maintenance
Risk of getting wedged
Figure 2-6 shows the areas with a severe risk of
getting wedged. Always make sure that the
entrance door of the technical area is open when
you are in the proximity of these areas.
Figure 2-6 Risk of getting wedged
Description components
Table 2-3 shows an overview of the numbered
components in Figure 2-6.
Table 2-3 Risk of getting wedged
NO.
DESCRIPTION
1
Between feeding trough and machine frame.
2
Between entrance / exit gates.
3
Between robotic arm and teat cup storage.
4
Between cow tracker and teat cup storage.
1
2
3
4

General information
Safety
23 June 2015 Version 1.7 Page 2-7
Maintenance scheme
Because of correct functioning and lifespan of
your milking box, it is very important to follow
the maintenance scheme (also see section 18.4)
of the milking box.
Periodic maintenance
Periodic maintenance is essential for the safety
for human and animals, who come into contact
with the milking box.
Service technician
The periodic maintenance of your milking box
should always be performed by trained and
qualified service technicians.
Service control mode
Ensure the milking box is switched to SERVICE
control mode during maintenance.

General information
Safety
Page 2-8 Version 1.7 23 June 2015
2.5. Safety symbols
Description
The milking box has different symbols to warn
users for dangers. It is very important to take
notice of these symbols and not to remove them
from the milking box.
Description symbols
Below you find an overview and a description of
the symbols that are present on the milking box.
1. BEWARE: high temperature.
2. BEWARE: high voltage.
3. Prohibited for unauthorized persons.
4. Read the manual for more information on
hoisting.
Displays the total weight of the milking box.