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
Revision C /March 2023 Page 3 of 69
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

Sigma Operation Manual
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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.

Sigma Operation Manual
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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.