PVA Sigma User manual

Sigma Benchtop Robot
Owner’s Manual
Revision B
INNOVATION. PRECISION. EXCELLENCE.

Sigma Operation Manual
Revision B /July 2020 Page 2 of 68
This document is based on information available at the time of its publication. While efforts
have been made to ensure the contents of this manual are accurate, the information
contained herein does not purport to cover all specific details or variations in hardware, or
to provide for every possible contingency in connection with installation, operation, or
maintenance. Features may be described herein which are not present in all hardware and
software systems. Precision Valve and Automation, Inc. assumes no obligation of notice to
holders of this document with respect to changes subsequently made.
Precision Valve and Automation, Inc. makes no representation or warranty, expressed,
implied, or statutory with respect to, and assumes no responsibility for the accuracy,
completeness, sufficiency, or usefulness of the information contained herein. No warranties
of merchantability or fitness for purpose shall apply.
This document, including the information contained herein, is the property of
Precision Valve and Automation, Inc. and is considered confidential and proprietary
information. It is delivered on the express condition that it not be used, disclosed, or
reproduced, in whole or in part, for any reason without prior written consent of
Precision Valve and Automation, Inc.
Copyright © 2020
Precision Valve and Automation, Inc.
All Rights Reserved.

Sigma Operation Manual
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Table of Contents
Introduction ........................................................................................................ 7
PVA Contact Information ........................................................................................................ 7
Document History..................................................................................................................... 7
Safety ......................................................................................................................................... 8
System Description ................................................................................................................10
Personal Protective Equipment...........................................................................................10
Best Practices..........................................................................................................................10
Environmental ..........................................................................................................................11
Workcell Location.....................................................................................................................11
Handling, Transportation, and Storage...............................................................................11
Storage, Temperature, and Humidity..................................................................................11
Dispensing/Spraying Equipment .........................................................................................11
Installation and Setup ...................................................................................... 12
Uncrate and Inspect............................................................................................................... 12
To Place the Dispense System......................................................................................... 12
Inspection......................................................................................................................... 13
Level the Workcell ................................................................................................................... 13
Power Up................................................................................................................................... 14
Necessary Downloads............................................................................................................ 16
Sigma Manual................................................................................................................... 17
Download Inkscape ........................................................................................................18
Install PVA G-code Generator Extension................................................................... 19
Operating Safety...............................................................................................20
Safety Circuit .......................................................................................................................... 20
Polycarbonate and Safety Glass Guarding ...................................................................... 20
Doors......................................................................................................................................... 20
Exhaust Fan ............................................................................................................................ 20
Standard Machine Exhaust Requirements................................................................ 21
Notices and Warnings ............................................................................................................ 21

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Inkscape .............................................................................................................22
Inkscape Manual..................................................................................................................... 22
Accessing Inkscape Manual ............................................................................................ 22
Setup ........................................................................................................................................ 23
Open a Template ............................................................................................................ 24
Create a New Layer ....................................................................................................... 25
Import Image (Optional)........................................................................................................ 26
Transform Image.................................................................................................................... 28
Move Tab.......................................................................................................................... 29
Scale Tab.......................................................................................................................... 29
Rotate Tab ....................................................................................................................... 30
Skew Tab.......................................................................................................................... 30
Move Image ...................................................................................................................... 31
Lock Layer ....................................................................................................................... 32
Create Dispense Path ........................................................................................................... 33
Create a Line ................................................................................................................... 33
Edit a Line ........................................................................................................................ 34
Create a Circle ................................................................................................................ 35
Edit a Circle...................................................................................................................... 35
Create an Arc .................................................................................................................. 36
Edit an Arc ........................................................................................................................37
Node Tool ..........................................................................................................................37
Set Fill and Stroke .......................................................................................................... 38
Edit Path Order ....................................................................................................................... 40
PVA Gcode Generator ....................................................................................... 41
Build Path ................................................................................................................................ 42
Dry Mode.............................................................................................................................. 42

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Directory .......................................................................................................................... 42
File Name ......................................................................................................................... 42
Layer Settings......................................................................................................................... 43
Action ............................................................................................................................... 43
Viewing and Editing Layer Settings........................................................................... 43
Travel Speed ................................................................................................................... 44
Safe Z Height .................................................................................................................. 44
Path Object Settings ............................................................................................................. 45
Unique ID.......................................................................................................................... 45
Tool.................................................................................................................................... 45
Dispense Height ............................................................................................................. 45
Line Specific Settings ................................................................................................... 46
Dot Specific Settings .................................................................................................... 46
Operation ........................................................................................................... 47
Generate G-code.................................................................................................................... 47
Sigma Wireless Connection Setup ..................................................................................... 47
Connect Web Interface to Existing Network.................................................................... 49
M587 Command ............................................................................................................. 49
Change Web Interface to Client Mode........................................................................ 51
Uploading G-code to Sigma................................................................................................. 54
Web Interface Overview........................................................................................................ 54
Header Bar....................................................................................................................... 54
Machine Control ............................................................................................................. 54
Job Status ....................................................................................................................... 55
G-code Console.............................................................................................................. 55
G-code Files .................................................................................................................... 55
Macros ...............................................................................................................................57

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Control Screen Overview...................................................................................................... 58
Technical Support............................................................................................. 61
Calling Technical Support ..................................................................................................... 61
Support Portal ......................................................................................................................... 61
Table of Figures.................................................................................................65
Notes................................................................................................................... 67
Warranty.............................................................................................................68

Sigma Operation Manual
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Introduction
Before you operate this system, read the operation and setup manual. This will help you to
become familiar with the product and ensure successful operation.
If any questions or problems arise, contact PVA’s Technical Support department.
PVA Contact Information
Main Office PVA
One Mustang Drive
Cohoes, NY 12047
Tel [phone]
Fax [phone]
Website: http://www.pva.net
Email: [email protected]
Technical Support
Tel [phone]
Email: [email protected]
Document History
Revision
Revision Date
Reason for Changes
REV B
July 2020
Download Instructions for Inkscape, G-code
REV A
May 2020
Initial Release
Note: All photographs and CAD model representations in this document are a
“general representation” of the system and its components. The actual appearance
of the system and its components can differ based upon customer specific
configuration.

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Safety
Certain warning symbols are affixed to the machine and correspond to notations in this
manual. Before operating the system, identify these warning labels and read the notices
described below. Not all labels may be used on any specific system.
Always wear approved safety glasses when you operate or work near the
workcell.
Before you operate the system, read and understand the manuals provided
with the unit.
Never put hands or tools in areas with this symbol when the machine is in
operation. A dangerous condition may exist.
Read and understand the manuals provided with the unit before any repairs
or maintenance is done. Only a qualified individual should do service.
Use caution when there are pressurized vessels. Find and repair any leaks
immediately. Always wear appropriate safety equipment when you work
with pressurized vessels or vessels that contain chemicals
Shear hazard from moving parts. Avoid contact.
Do not remove protective guarding.
In situations where inattention could cause either personal injury or damage
to equipment, a warning notice is used.

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Do not smoke near the machine. Always have a fire extinguisher available
for emergency use.
Before performing any repairs or maintenance to the system, turn off power
and lock out the power disconnect switch.
Warning notices are used to emphasize that hazardous voltages, current,
temperatures, or other conditions that could cause personal injury exist in
this equipment or may be associated with its use. Only qualified personnel
should enter areas designated with this symbol.
Laser light source present. Do not stare directly into the beam. Do not use in
the presence of highly reflective surfaces
Pinch hazard from moving parts. Avoid contact.
Hot surface. Avoid contact.
Warning, Ultraviolet (UV) light hazard. Do not look directly at the UV light
source.

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System Description
The Sigma benchtop is a compact three-axis robotic gantry ideal for automating a variety
of dispensing and coating applications. Featuring multiple mounting positions, users can
easily incorporate multiple chemistries or application techniques into their process. With
remote programming capability and image background import, programs can be quickly
uploaded from your desktop utilizing Sigma’s internal 2.4 GHz Wi-Fi network.
Personal Protective Equipment
Workcell operation includes air pressure, electrical power, mechanical devices, and the use
of hazardous materials. Only qualified personnel can operate and service workcells.
Operators must use eye protection because material contents are under pressure. Always
wear gloves when handling materials and solvents. Refer to MSDS sheets on the material
that is used for other precautions.
Best Practices
•Do not wear loose clothes or jewelry when you operate the workcell
•Do not touch the dispense head while it is moving
•Make sure cables and pneumatics hoses are attached and do not cross walkways
•Immediately engage the Emergency Stop button if personnel is in danger
•Locate and define all safety labels on and around the workcell before you turn the
machine “On”
•There must be two people during maintenance procedures
•Dispose of all used parts and materials in accordance with local laws and
regulations
•Safety is a joint responsibility between the OEM and the end-user. All precautions
and practices should be in accordance with local regulations.
DO NOT use incompatible tools, remove door interlocks or bypass safety devices,
make custom mechanics or fluid delivery modification, or change material from the
original design.

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Environmental
Area of Possible Concern
System Information
Audible Noise Levels
Below 65 dBA.
Material and Chemicals
There are no known dangerous materials or chemicals
on this workcell. Refer to the MSDS sheet for the
dispensed material.
Hazards Due to Contact
The workcell has safety features to minimize injuries. In
some modes of operation it is possible to override
safety features. Only qualified personnel should enter
the work area when the workcell has power. All hot
surfaces have a warning label.
Workcell Location
The machine should be installed on a level surface away from standing water, possible
overspray, and overhead leaks.
Handling, Transportation, and Storage
The workcell should be handled and transported with minimal vibration and shock on the
system. Use an air-ride truck for roadway transport. The machine is built for an industrial
environment, but excessive abuse will decrease the performance of the machine.
Storage, Temperature, and Humidity
When in storage, all enclosures and connector covers should be closed tightly. Put a cover
over the system if there is dust or other airborne debris in the storage area. Store the
workcell in an area that is 40°F - 105°F (4°C – 41°C) and low humidity. Do not let
condensation collect on the machine.
Dispensing/Spraying Equipment
When the workcell is stored for an extended period of time, it should be flushed with a
solvent compatible with the application material and workcell components.
Note: PVA is not responsible for damages incurred by incorrect transportation and
handling of the workcell. The instructions given for the transportation, handling,
and storage of the workcell are the correct manufacturer’s procedure.

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Installation and Setup
Before you operate the workcell, know the components. Do the steps in this manual for
safe and correct operation.
Warning: Only qualified personnel should do these procedures. Obey this manual and
all applicable safety regulations. A “qualified person” is defined as “a person or
persons who, by possession of a recognized degree, certificate, or professional
training, or who, by extensive knowledge, training, and experience, has successfully
demonstrated the ability to solve problems relating to the subject matter and work.”
(Ref. ANSI/ASME B30.2-1983.)
Uncrate and Inspect
1. Use the Utility knife to cut the straps and the shrink wrap.
2. Remove the cardboard as well as all packing materials and straps.
3. Use a 9/16” wrench to remove the shipping bracket from the crate. Use a 3 mm hex
key to remove the four shipping brackets. There are two on each side of the
machine.
To Place the Dispense System
1. Move the workcell to the necessary location.
2. Loosen the lock nuts on each foot of the workcell, if necessary.
3. Make sure that all four (feet) touch the ground. If any feet do not touch the ground,
use the adjustable wrench to lower the feet by turning the feet clockwise.
Figure 1: Adjust the Feet
NOTE: When you lower the feet, you raise the workcell. When you raise the feet, you
lower the workcell.

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Inspection
1. Open the doors and remove all straps, tie wraps, and sponges around the dispense
heads and gantry. In order to prevent any movement during the shipping process,
many workcells are equipped with green shipping brackets inside the machine. The
placement of these brackets will vary by workcell. The shipping brackets must be
removed before continuing the inspection.
2. Fully examine the workcell for damage, loose fasteners, etc.
3. Use your hands to move the X and Y-axis slide to the center of the work area.
4. Examine all tubing connections, gauges, and regulators.
5. Open the electrical enclosure and visually inspect connectors and components for
signs of vibration during shipping. Close the door, the machine should not operate
with the doors open.
6. Make sure all cables and connections are fully and correctly installed.
Level the Workcell
This is the procedure to level the workcell. Put the level in the center of the jig plate.
1. Look at the position of the bubble in the level window. The bubble will be centered
between the two lines when the workcell is level. If the bubble is outside or closer to
the right line, raise the left side of the workcell. If the bubble is outside or closer to
the left line, raise the right side of the workcell.
2. If necessary, loosen the locking nut on each foot with an adjustable wrench.
3. Use an adjustable wrench to adjust the feet of the workcell. Put the wrench on the
flat (unthreaded) part of the pedestal and turn in the necessary direction until the
workcell is level from side to side. Turn the pedestal clockwise to raise the workcell
and counterclockwise to lower the workcell.
4. In each corner, put your hands on top of the workcell and push down. If one of the
feet does not touch the ground the workcell will rock back and forth. Adjust the feet
so that they all bear equal weight.
5. When the workcell is level from front to back and side to side, is stable, and all four
feet bear equal weight, use your hand to turn the locking nuts on the workcell feet
counterclockwise until they are tight.

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Power Up
After the accessories are installed, connect the workcell to air and power supplies. After
the workcell is correctly connected, turn the main power switch “On” and make sure
system components function correctly.
WARNING: Failure to obey electrical specifications can damage the machine and
injure personnel. Electrical hookup must be done by a qualified electrician and must
comply with any applicable local standards.
1. Plug the machine into an appropriate power source as shown on the legend plate on
the right side of the machine.
The electrical service must be correctly grounded and the power source “clean”. If high-
power equipment uses the same source, a line conditioner may be necessary. Poor power
quality can cause machine errors. All workcells shipped from the PVA factory can operate
with the voltage used at the installation site, per engineering design.
WARNING: Make sure that the main power switch is “Off” before you connect the
workcell to the facility power source.
2. Find the main air regulator.
3. Attach the workcell to the facility air supply. There is a ¼” NPT female fitting at the
rear of the machine. Connect to a source of clean, dry air. A hose of ¼” inside
diameter is sufficient.
4. Slowly open the facility air valve.
5. Close any access doors and engage in the Emergency Stop button.
6. At the top of the machine, turn on the red air lockout valve.
Figure 2: Red Air Lockout Valve

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7. Ground any pressure vessel to earth or the machine.
8. Attach a correctly designed ventilation system to the exhaust port. It is necessary
that the exhaust flow is correct for the specified CFM of your workcell.
NOTE: Refer the Material Safety Data Sheets (MSDS) for safety precautions on any
chemicals used in PVA equipment.
NOTE: Do not power on the workcell or add material to the pressure vessels until
they are correctly grounded.
9. Turn the main power switch “On”.
Figure 3: Main Power Switch
1. Perform the homing routine through the HMI.
2. Manually jog to make sure there are no components that can be hit by the head in
the work area.
3. Make sure that the pneumatic and electrical cables do not decrease the heads travel
and will not be cut or snagged when moved. Please contact Technical support if
there are any problems.
4. Make sure the valve and brackets are tight and that the valve does not rock or
wiggle in the bracket.
5. Close the doors.

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Necessary Downloads
Prior to operating Sigma, please visit contact.pva.net/sigma-manual to download a copy
of the manual, Inkscape, and the PVA G-code Generator. This URL should be included on
your machine.
1. Access contact.pva.net/sigma-manual via browser.
Figure 4: Sigma Download Website

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Sigma Manual
The Sigma manual will walk you through how to install and operate Sigma as well as how to
use Inkscape and the web interface. Read this manual carefully prior to use.
1. Click View Manual.
2. From this screen, you can download, print, or copy link to share.
Figure 5: Download Sigma Manual

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Download Inkscape
Sigma is designed to work exclusively with Inkscape version 0.92.4. Prior to use, Inkscape
version 0.92.4 must be downloaded.
1. Click Download Inkscape.
2. Choose between 32-bit and 64-bit.
3. Follow the download prompts.
Figure 6: Download Inkscape

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Install PVA G-code Generator Extension
Prior to use, the PVA G-code Generator extension must be installed within Inkscape.
1. Click G-code Generator.
2. When the screen opens, select all files and click Download.
Figure 7: Install PVA G-code Extension 1
3. The zip file will open in Windows Explorer.
4. Copy the files and paste them into the following Windows Explorer folder:
C:\Program Files\Inkscape\share\extensions
Figure 8: Install PVA G-code Extension 2

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Operating Safety
The workcell has several safety features that protect the operator from hazards in normal
machine operation.
Warning! The safety features should NEVER be bypassed, disabled, or tampered with.
PVA is not responsible for any damage, mechanical or human, caused by changes or
destruction of any safety features.
Safety Circuit
The main power to the workcell is monitored and controlled by the safety circuit. The
safety circuit contains two relays under-voltage protection and one or more safety
devices. The relays are wired in a redundant manner. The tripping contacts of the relays
are connected in series so the safety circuit will disconnect power even if one of the relays
fails. The relays are self-checking with positive guided contacts electrically forced to
operate together. If one redundant relays fails or a safety switch is activated, the power
contacts are opened.
Polycarbonate and Safety Glass Guarding
The work area is enclosed with either polycarbonate or safety glass guarding. The front of
the workcell is either open, for the manual processing of parts, or has doors.
Doors
The doors on the workcell are monitored during the dispense cycle. If the door is opened
while the machine is in operation, this will trigger a pause on the machine.
Exhaust Fan
The exhaust flange should be connected to a duct system that can receive the required*
CFM (cubic feet per minute) while maintaining less than 1.0” H2O static pressure in the
duct. If airflow through the exhaust system is not sufficient, it will generate an error.