PVA Sigma User manual

207B207B
Sigma Benchtop Robot
Owner’s Manual
Revision C
INNOVATION. PRECISION. EXCELLENCE.

Sigma Operation Manual
Revision C /March 2023 Page 2 of 69
208B208BThis 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.
209B209BPrecision 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.
210B210BThis 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.
211B211BCopyright © 2023
212B212BPrecision Valve and Automation, Inc.
213B213BAll Rights Reserved.

Sigma Operation Manual
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573B653BTable 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
Maintenance ........................................................................................................ 61
Technical Support...............................................................................................62
Calling Technical Support .................................................................................................... 62
Support Portal ........................................................................................................................ 62
Table of Figures ...................................................................................................66
Notes .................................................................................................................... 68
Warranty ...............................................................................................................69

Sigma Operation Manual
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Introduction
214B214BBefore you operate this system, read the operation and setup manual. This will help you to
become familiar with the product and ensure successful operation.
215B215BIf any questions or problems arise, contact PVA’s Technical Support department.
PVA Contact Information
216B216BMain Office PVA
6 Corporate Drive
Halfmoon, NY 12065
219B219BTel [phone]
220B220BFax [phone]
221B221BWebsite: http://www.pva.net
222B222BEmail: [e-mail]
223B223BTechnical Support
224B224BTel [phone]
225B225BEmail: [e-mail]
Document History
Revision
Revision Date
Reason for Changes
REV C
April 2021
Maintenance Schedule Added
REV B
July 2020
Download Instructions for Inkscape, G-code
REV A
May 2020
Initial Release
454B454BNote: 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
226B226BCertain 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
227B227BThe 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
228B228BWorkcell 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
•229B229BDo not wear loose clothes or jewelry when you operate the workcell
•230B230BDo not touch the dispense head while it is moving
•231B231BMake sure cables and pneumatics hoses are attached and do not cross walkways
•232B232BImmediately engage the Emergency Stop button if personnel is in danger
•233B233BLocate and define all safety labels on and around the workcell before you turn the
machine “On”
•234B234BThere must be two people during maintenance procedures
•235B235BDispose of all used parts and materials in accordance with local laws and
regulations
•236B236BSafety is a joint responsibility between the OEM and the end-user. All precautions
and practices should be in accordance with local regulations.
455B455BDO 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
237B237B
Area of Possible Concern
238B238B
System Information
239B239BAudible Noise Levels 240B240BBelow 65 dBA.
241B241B
Material and Chemicals
242B242B
There are no known dangerous materials or chemicals
on this workcell. Refer to the MSDS sheet for the
dispensed material.
243B243B
Hazards Due to Contact
244B244B
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
245B245BThe machine should be installed on a level surface away from standing water, possible
overspray, and overhead leaks.
Handling, Transportation, and Storage
246B246BThe 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
247B247BWhen 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
248B248BWhen 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.
456B456BNote: 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
249B249BBefore you operate the workcell, know the components. Do the steps in this manual for
safe and correct operation.
457B457BWarning: 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. 250B250BUse the Utility knife to cut the straps and the shrink wrap.
2. 251B251BRemove the cardboard as well as all packing materials and straps.
3. 252B252BUse 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. 253B253BMove the workcell to the necessary location.
2. 254B254BLoosen the lock nuts on each foot of the workcell, if necessary.
3. 255B255BMake 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.
256B256B
1B1BFigure 1: Adjust the Feet
458B458BNOTE: When you lower the feet, you raise the workcell. When you raise the feet, you
lower the workcell.

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Inspection
1. 257B257BOpen 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. 258B258BFully examine the workcell for damage, loose fasteners, etc.
3. 259B259BUse your hands to move the X and Y-axis slide to the center of the work area.
4. 260B260BExamine all tubing connections, gauges, and regulators.
5. 261B261BOpen 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. 262B262BMake sure all cables and connections are fully and correctly installed.
Level the Workcell
263B263BThis is the procedure to level the workcell. Put the level in the center of the jig plate.
1. 82B82BLook 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. 83B83BIf necessary, loosen the locking nut on each foot with an adjustable wrench.
3. 84B84BUse 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. 85B85BIn 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. 86B86BWhen 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
264B264BAfter 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.
459B459BWARNING: 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. 265B265BPlug the machine into an appropriate power source as shown on the legend plate on
the right side of the machine.
266B266BThe 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.
460B460BWARNING: Make sure that the main power switch is “Off” before you connect the
workcell to the facility power source.
2. 267B267BFind the main air regulator.
3. 268B268BAttach 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. 269B269BSlowly open the facility air valve.
5. 270B270BClose any access doors and engage in the Emergency Stop button.
6. 271B271BAt the top of the machine, turn on the red air lockout valve.
272B272B
2B2BFigure 2: Red Air Lockout Valve

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7. 273B273BGround any pressure vessel to earth or the machine.
8. 274B274BAttach 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.
461B461BNOTE: Refer the Material Safety Data Sheets (MSDS) for safety precautions on any
chemicals used in PVA equipment.
462B462BNOTE: Do not power on the workcell or add material to the pressure vessels until they
are correctly grounded.
9. 275B275BTurn the main power switch “On”.
276B276B
3B3BFigure 3: Main Power Switch
1. 277B277BPerform the homing routine through the HMI.
2. 278B278BManually jog to make sure there are no components that can be hit by the head in
the work area.
3. 279B279BMake 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. 280B280BMake sure the valve and brackets are tight and that the valve does not rock or
wiggle in the bracket.
5. 281B281BClose the doors.

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Necessary Downloads
282B282BPrior 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. 87B87BAccess contact.pva.net/sigma-manual via browser.
283B283B
4B4BFigure 4: Sigma Download Website

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Sigma Manual
284B284BThe 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. 88B88BClick View Manual.
2. 89B89BFrom this screen, you can download, print, or copy link to share.
285B285B
5B5BFigure 5: Download Sigma Manual

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Download Inkscape
286B286BSigma is designed to work exclusively with Inkscape version 0.92.4. Prior to use, Inkscape
version 0.92.4 must be downloaded.
1. 90B90BClick Download Inkscape.
2. 91B91BChoose between 32-bit and 64-bit.
3. 92B92BFollow the download prompts.
287B287B
6B6BFigure 6: Download Inkscape

Sigma Operation Manual
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Install PVA G-code Generator Extension
288B288BPrior to use, the PVA G-code Generator extension must be installed within Inkscape.
1. 93B93BClick G-code Generator.
2. 94B94BWhen the screen opens, select all files and click Download.
289B289B
7B7BFigure 7: Install PVA G-code Extension 1
3. 95B95BThe zip file will open in Windows Explorer.
4. 96B96BCopy the files and paste them into the following Windows Explorer folder:
C:\Program Files\Inkscape\share\extensions
290B290B
8B8BFigure 8: Install PVA G-code Extension 2

Sigma Operation Manual
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Operating Safety
291B291BThe workcell has several safety features that protect the operator from hazards in normal
machine operation.
463B463BWarning! 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
292B292BThe 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
293B293BThe 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
294B294BThe 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
295B295BThe 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.