Learning for controlling pneumatic driven positioning devices

A method for providing controlling parameters for controlling a vacuum system, the vacuum system comprises;

• at least a first pneumatic positioning device configured for moving and positioning an effecting element, wherein the first pneumatic positioning device comprises
• a first mount configured to hold the effecting element, and
• a first pneumatic actuator which is connected to the first mount and which interacts with the first mount in such a way that the first mount is movable along a first movement axis,
• a first control valve connected to the first pneumatic actuator and to a first fluid supply and configured to vary at least one of the pressure in the first pneumatic actuator or the fluid flow out of or into the first pneumatic actuator to provide movement of the first mount, and
• a first fluid sensor arranged and configured to measure at least one of the pressure of the first pneumatic actuator or the fluid flow out of or into the first pneumatic actuator,
• wherein:
• the method comprises
• applying a first controlling signal to the first control valve to vary at least one of the pressure of the first pneumatic actuator or the fluid flow into the first pneumatic actuator and, by that, moving the first mount from a first starting position to a first end position,
• monitoring at least one of the varying pressure of the first pneumatic actuator or the varying fluid flow into the first pneumatic actuator by first fluid sensor,
• determining when the first mount arrives at the first end position, and
• deriving the controlling parameters based on processing a set of observed parameters, wherein the set of observed parameters comprises at least
• the first controlling signal,
• at least one of the varying pressure or the varying fluid flow, and
• an information concerning the arrival of the first mount at the first end position.