Method for creating gripping sequence programs

A method for creating gripping-task-specific gripper sequence programs of an item gripper (50),

• the item gripper (50) having a gripper main body (51) and at least one gripping tool (71), and
• the item gripper (50) being controlled by a gripper control module (110),
• the method comprising:
• transmitting a gripper-main-body-specific identification signal from the item gripper (50) to the gripper control module (110) via a signal and data interface (111);
• assigning, by the gripper control module (110), a gripper dataset from a database to the gripper-main-body-specific identification signal, the gripper dataset having an allowable value range for each settable parameter of the item gripper (50);
• ascertaining, by actuating the at least one gripping tool (1), at least one reference value for a position of the at least one gripping tool (71) relative to the gripper main body (51);
• creating, by a peripheral device (130) while a bidirectional data interface (117) with the gripper control module (110) is active, a gripping-task-specific configuration dataset for the item gripper (50);
• checking, by the gripper control module (110), whether each reference value ascertained and each input value of the gripping-task-specific configuration dataset entered by the peripheral device (130) is within the allowable value range of an associated settable parameter of the gripper dataset;
• checking, by the gripper control module (110), whether a combination of a plurality of values of the gripping-task-specific configuration dataset is within an allowable range of the gripper dataset determined by a plurality of parameters;
• determining, by the gripper control module (110), gripping-task-specific target values and test criteria from the values of the gripping-task-specific configuration dataset and the at least one reference value;
• and
• establishing, by a processing unit (63) of the item gripper (50), a time profile of an actuation of a gripper drive from the gripping-task-specific target values and determining gripper-specific test values from the test criteria.