An arrangement for fetching a teat cup from a teat cup magazine in which each teat cup has a respective fixed position includes a reference entity in a fixed spatial relationship to the teat cup magazine and each teat cup stored therein a remote detecting element that registers wireless energy reflected by the reference entity, and based thereon determines a respective position for the teat cup relative to a robotic arm. The robotic arm carries a gripper element configured to hold the teat cup during removal thereof from the teat cup magazine. The reference entity is configured to allow the remote detecting element to receive wireless energy reflected against the reference entity while moving the robotic arm towards the least one teat cup for removing the at least teat cup from the teat cup magazine.
