A control system and a method for milking members in a milking parlor having plural milking stalls. The control system includes a local control unit in each milking stall automatically preparing the milking member for a milking operation by setting a vacuum valve in an open position when the milking member is moved from a storage position, and a control unit setting the milking stalls in the milking parlor in a pre-cleaning mode when a milking operation is still in progress in at least one other of the milking stalls. In this case, the local control units prepare the milking members for a cleaning operation instead of a milking operation by maintaining the vacuum valve in a closed position when the milking member is moved from a storage position, until the cleaning operation of the milking member is started.
