You have two options for this.

Option one is to enter training period, where the Astronaut arm moves underneath the cow to make sure they are getting used to the milking process and cows have access to the robot based on the last column of the milk access table.

Option two is priority feeding, in this case cows have always access and the robot arm does not move for training. Both options ensure that the cow are fed based on the feed table.

Input option 1:

Via Cowcard > New entry > Milk Setting > Training period or Priority feeding

Input option 2:

New Entry > Milk settings > Select cows > Training period or Priority Feeding

Input option 3:

Milking > Manage > Post milking > Priority Feeding