Agriculture 4.0 aims to use recent advances in technology to enhance productivity and reduce operating costs. In precision feeding systems using robots, farm configuration should support robot maneuvers and precision feeding operations. Such configuration needs to be checked during design and operations to avoid costly modifications and damage to robots. This investigation presents an incremental model- based approach for robot farm runtime configuration management. First, an abstract model of the configuration is generated and its feasibility is verified using model checking. Then, simulation based verification by introducing low-level operational details (robot speed, capacity, etc.) is performed which is used to refine formal verification. Finally, operational correctness in real exploitation conditions is tested against the simulation. Our results show that the proposed incremental validation minimizes the validation time, design space exploration and cost during early stages of design, rather than during operations which could lead to significant cost.