The command and control system of a gripper, especially a self-adaptive gripper, is essential for the correct and safe gripping of gripped objects. Self-adaptive grippers used in industrial robots have the advantage of being able to adapt to the shape and weight of the gripped part, allowing parts of various shapes and weights to be gripped. These are much more advantageous than grippers with jaws, still widely used today, which can grip only one type of part, or finger grippers, which are much too complex and expensive, not being economically justified for common robotic applications. This paper describes suggestively the design of the command and control system of a self-adaptive gripper, intended for industrial robots, after which the procedure, important for the proper functioning of the gripper, for its calibration and testing is presented. This procedure is a significant contribution to the knowledge in this field, which can be used as a model and source for other similar situations.