Method for milking system and milking system

A method for a milking system (11) including a moving device (13), a plurality of milking stalls (13a) arranged on the moving device, an automatic teat cup attachment system (19) for each of the milking stalls, and an automatic teat cup returning system (25) for each of the milking stalls, each milking stall being provided with teat cups (15) and configured to house a milking animal (17) during milking thereof, the automatic teat cup attachment system fetching the teat cups of the milking stall at default storage positions and attaching the teat cups to teats of the milking animal present in the milking stall prior to the milking thereof, the automatic teat cup returning system withdrawing the teat cups of the milking stall to return the teat cups to the default storage positions subsequent to the milking of the milking animal present in the milking stall, the method comprising:

• for each of the milking stalls, sensing current positions of the teat cups in the milking stall after the teat cup returning system withdraws the teat cups of the milking stall after the milking of the milking animal present in the milking stall, and before the automatic teat cup attachment system fetches the teat cups of the milking stall in connection with milking of a following milking animal;
• for each of the milking stalls, comparing the sensed positions of the teat cups with the default storage positions of the teat cups to determine whether the sensed current positions of the teat cups deviate from the default storage positions of the teat cups by at least a specified distance;
• and
• for each of the milking stalls, performing a first action with respect to the milking system when the sensed current positions of the teat cups deviate from the default storage positions of the teat cups by at least the specified distance, the first action being performed before the automatic teat cup attachment system fetches the teat cups of the milking stall in connection with the milking of the following milking animal.