An apparatus for teaching a gripping device is disclosed. The gripping device includes an arm. The arm has a free end that can be freely moved in an operating region and includes a gripper. The gripper includes at least one, preferably two pairs of spaced apart gripping tongs consisting of an electrically conductive material. A control unit is included electrically connected to the tongs or a measuring body. A detecting means detects current in a control line. The apparatus uses a reference component having three reference surfaces to determine a reference coordinate system. By pre-specifying several points on the reference component that are to be approached, an automated determination of the position and alignment of a chuck or pallet can be utilized. A highly accurate analysis of a current signal is used by the apparatus for teaching the gripping device.