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Summary of Contents for PVA Sigma
- Page 1 INNOVATION. PRECISION. EXCELLENCE. Sigma Benchtop Robot Owner’s Manual Revision B...
- Page 2 Sigma Operation Manual 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.
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Page 3: Table Of Contents
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 .......................... - Page 4 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 Page 4 of 68 Revision B...
- Page 5 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 ....................
- Page 6 Sigma Operation Manual Control Screen Overview ...................... 58 Technical Support ..................... 61 Calling Technical Support ..................... 61 Support Portal ......................... 61 Table of Figures ....................65 Notes ........................67 Warranty ......................68 Page 6 of 68 Revision B July 2020...
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Page 7: 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... -
Page 8: Safety
Sigma Operation Manual 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. - Page 9 Sigma Operation Manual 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.
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Page 10: System Description
Sigma Operation Manual 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. -
Page 11: Environmental
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. -
Page 12: Installation And Setup
Sigma Operation Manual 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... -
Page 13: Inspection
Sigma Operation Manual 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. -
Page 14: Power Up
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. -
Page 15: Figure 3: Main Power Switch
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. -
Page 16: Necessary Downloads
Sigma Operation Manual 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... -
Page 17: Sigma Manual
Sigma Operation Manual 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. -
Page 18: Download Inkscape
Sigma Operation Manual 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... -
Page 19: Install Pva G-Code Generator Extension
Sigma Operation Manual 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. -
Page 20: 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. -
Page 21: Standard Machine Exhaust Requirements
Note: Check machine specifications. Custom order machines and processes may require higher exhaust flow rates. Note: Refer the Material Safety Data Sheets (MSDS) for safety precautions on any chemicals used in PVA equipment. Note: The safety devices on your workcell will be different with each model. Notices and Warnings •... -
Page 22: Inkscape
Inkscape is an open-source vector graphics editor. PVA has created an extension designed to convert what is drawn in Inkscape to a G-code file that can be uploaded to Sigma. Sigma is designed to work with Inkscape version 0.92.4. Inkscape must be downloaded prior to use. -
Page 23: Setup
1. Once Inkscape is open, select File Document Properties from the taskbar. Figure 11: Select Document Properties 2. The Document Properties popup window will display. Under Custom Size, set the Sigma workspace dimensions (330 mm X 300 mm). Note: If a template has already been created for the workspace dimensions, select New From Template. -
Page 24: Open A Template
Sigma Operation Manual Open a Template 1. To open a pre-existing template, select File New from Template. The New From Template window will open. Figure 13: New From Template 2. Select the desired template from the list or use the search bar. -
Page 25: Create A New Layer
Sigma Operation Manual Create a New Layer 1. Select Layer Add Layer or Shift+Ctrl+N. 2. Enter a Layer Name for the substrate and click Add. Figure 15: Add New Layer 3. You can view and toggle between layers in the layer dropdown on the bottom left of the screen. -
Page 26: Import Image (Optional)
Sigma Operation Manual Import Image (Optional) There is an option to import an image of the substrate as a reference for the dispense path. Ensure that the reference image is scaled correctly. Skip this section if it does not apply. -
Page 27: Figure 19: Image Example
Sigma Operation Manual Note: There is also an option to paste the image onto the active layer. Simply use Ctrl+V to paste the image onto the workspace. The image will display in the workspace window and can be resized. Figure 19: Image Example... -
Page 28: Transform Image
Sigma Operation Manual Transform Image Resize the substrate image to its accurate size. 1. Select the image. 2. Select Object Transform or Ctrl+Shift+M to open the Transform panel. This panel offers the ability to Move, Scale, Rotate, and Skew the image if necessary. -
Page 29: Move Tab
Sigma Operation Manual Move Tab Use the Move tab to translate an object. An object can be moved horizontally or vertically. Use the arrows or enter a value manually in the field. An object will be translated relative to its current position if the Relative checkbox is selected. -
Page 30: Rotate Tab
Sigma Operation Manual Rotate Tab Use the Rotate tab to rotate an object. An object will be rotated relative to Rotation center. The direction of the rotation is positive in the counterclockwise direction. Figure 23: Rotate Tab Skew Tab Use the Skew tab to skew an object. An object can be skewed in horizontal and vertical directions separately. -
Page 31: Move Image
Sigma Operation Manual Move Image There are three options to move the image to match its location on the workspace. Note: The X and Y coordinates will be the left-hand corner of the image. • Click and drag the image to its desired location. The position can be monitored by using the scale at the top in the Tool Controls bar or in the bottom right-hand corner in the Pointer Position window. -
Page 32: Lock Layer
Sigma Operation Manual Lock Layer After the substrate image is resized and positioned in the desired location, PVA recommends locking the layer. There are two ways to lock a layer. • Select the image. Select Layer Lock/Unlock Current Layer. -
Page 33: Create Dispense Path
Sigma Operation Manual Create Dispense Path This section will review how to create a dispense path. It is recommended that each tool have a unique layer for its dispense path. Note: The robot will follow the dispense path based on the direction that a line was created. -
Page 34: Edit A Line
Sigma Operation Manual 5. Continue drawing additional segments if necessary. 6. Hit Enter to complete the line or click on the first endpoint when placing the last endpoint. Figure 30: Completed Line Edit a Line 1. Use the Select tool and click the line that needs to be edited. -
Page 35: Create A Circle
Sigma Operation Manual Create a Circle Circles are used to represent dispense dots. If a full circle is drawn, the center point of the circle is where the valve will dispense. 1. Select the Circle tool 2. Click and hold at the start point of the circle. Drag to create the circle. -
Page 36: Create An Arc
Sigma Operation Manual Create an Arc If an arc is drawn, the path will follow the start point of the arc to the end point. 1. Use the Select tool to select the circle that should be changed to an arc. -
Page 37: Edit An Arc
Sigma Operation Manual Edit an Arc 1. Use the Select tool and select the arc that needs to be edited. 2. To resize the arc, use the white arrows. Figure 36: Resize Arc 3. To move the arc, click and drag. -
Page 38: Set Fill And Stroke
Sigma Operation Manual Insert new nodes into selected segments. Clicking on the path will select the nearest node on both sides of the point where the path was clicked. Double- clicking on the path will also insert a node. Delete selected nodes. -
Page 39: Figure 40: Fill And Stroke Option 2
Sigma Operation Manual 2. Use Shift + Ctrl + F. Figure 40: Fill and Stroke Option 2 3. Navigate to the fill and stroke area on the bottom left of the screen. Figure 41: Fill and Stroke Option 3 4. Use the color toolbar on the bottom of the screen. -
Page 40: Edit Path Order
Sigma Operation Manual Edit Path Order By default, the G-code will follow the order in which the dispense path was created. It will be generated from the upper most layer to the bottom layer. In the event that an application requires certain areas to be coated first or you need to reduce cycle time, the layers and path objects can be viewed and modified via the Objects window. -
Page 41: Pva Gcode Generator
Sigma Operation Manual PVA Gcode Generator The PVA Gcode Generator is an extension that will create a G-code based on what is drawn in Inkscape. 1. To open PVA G-code Generator, select Extensions PVA PVA Gcode Generator. PVA Gcode Generator Window will display. -
Page 42: Build Path
Sigma Operation Manual Build Path The Build Path tab builds the G-code file. Each active layer will need layer settings and each selected object will need settings applied before the G-code file can be built. Figure 46: Build Path Tab... -
Page 43: Layer Settings
Prior to generating the G-code file, you can view layer settings to make any changes. 1. Select the desired layer and select Extensions PVA PVA Gcode Generator. 2. Navigate to Layer Settings. Under the Action dropdown, select Display Layer Settings. -
Page 44: Travel Speed
6. Select the parameter that needs to be edited and make the necessary edit(s). Figure 49: Edit Layer Settings 7. Open the PVA Gcode Generator and navigate to Layer Settings. 8. Under the Action dropdown, select Import Layer Settings from Displayed. -
Page 45: Path Object Settings
Designates a specific name for the objects that are selected. Tool Assigns a tool to the objects that are selected. If there are two tools on Sigma, the left tool is T0 and the right tool is T1. Dispense Height Enter a Z height used for the selected objects i.e. -
Page 46: Line Specific Settings
Sigma Operation Manual Line Specific Settings • Dispense Speed (mm): The dispense speed for the selected objects. • Valve Off Distance: The distance that the valve should be closed before the end of the selected line. • Valve On Time: The amount of time the valve will be opened before the dispense line starts. -
Page 47: Operation
Sigma has 2.4GHz wireless network connection capability that allows Sigma to be operated remotely with a computer. For the initial setup of Sigma, you will need to use this feature. 1. Turn on Sigma using the on/off switch located near the power cord connection. -
Page 48: Figure 52: Sigma Web Interface Home Screen
5. Once connected to the network, access the computer interface by typing the machine IP address “11.22.33.44” into your Firefox or Chrome browser. The web interface will display. Figure 52: Sigma Web Interface Home Screen Page 48 of 68 Revision B... -
Page 49: Connect Web Interface To Existing Network
There is an option to connect an existing 2.4 GHz WiFi network to the web interface. Note: This option is not compatible with 5 GHz networks. 1. Use the steps outlined in Sigma Wireless Connection Setup to connect to Sigma’s WiFi network. -
Page 50: Figure 54: Enter M587 Command
Sigma Operation Manual Example: Network SSID TEST_Network Network Password Testing123 IP Address 1.160.10.240 Using the credentials listed above, the M587 command would be as follows: M587 S”TEST_Network” P”Testing123” I1.160.10.240 1. In the Send G-code field, enter the full M587 command. -
Page 51: Change Web Interface To Client Mode
Sigma Operation Manual Change Web Interface to Client Mode 1. To switch the web interface network from host mode to client mode, select Settings. 2. Select System Editor. 3. Navigate to the config.g file and right click. From the menu, select Edit. -
Page 52: Figure 57: Change Network
Sigma Operation Manual 6. Delete the semicolon (;) from M552 S1. 7. Add a semicolon (;) to M552 S2 to select the network. Figure 57: Change Network 8. Click Save Changes. Note: The web interface must be rebooted after changes to the network have been made. -
Page 53: Figure 60: Sigma Control Screen Wifi Confirmation
Figure 60: Sigma Control Screen WiFi Confirmation Note: Sigma can also be powered down so the SD card storing the config.g file can be removed from the controller. Within the system file of the SD card is the Config.g file. -
Page 54: Uploading G-Code To Sigma
Setup. 2. From the Sigma web interface, select Upload & Start. 3. Choose the desired G-code file. Once uploaded, Sigma will run the dispense path. More detailed information regarding how to use the Web Interface and Control Screen are provided in the next sections. -
Page 55: Job Status
Sigma Operation Manual Job Status Job Status will display the progress of the current path. You can also change speed, pause the job, or start another job when the path is complete. Figure 63: Job Status Overview G-code Console The G-Code Console provides a log of G-Codes entered, responses and errors, warnings, and notifications received since the browser was last refreshed. -
Page 56: Figure 65: Upload G-Code File
Sigma Operation Manual Files can be uploaded by browsing for them or dropping them onto the Upload G Code Files(s) button. The file upload functionality cannot be used during while the machine is running. Figure 65: Upload G-Code File Right-click on a G-code file to display a list of options. From here, you can run the dispense part (Print File), estimate the dispense path time (Simulate File), or download the G-code file (Download). -
Page 57: Macros
Sigma Operation Manual Figure 67: Edit G-Code Macros Macros allows you to upload and edit user-defined macros. Figure 68: Macros Page 57 of 68 Revision B July 2020... -
Page 58: Control Screen Overview
Sigma Operation Manual Control Screen Overview The control screen on Sigma has the same features and functionality of the web interface. The two can be used interchangeably. Figure 69: Control Screen Select Tools Current Position Home All, Home X, Home Y, Home Z... -
Page 59: Figure 71: Move Axis (Control)
Sigma Operation Manual Move Individual Axis Figure 71: Move Axis (Control) Access Macro Files Figure 72: Access Macro Files (Control) Control Screen (Current Screen) Page 59 of 68 Revision B July 2020... -
Page 60: Figure 73: Print Screen
Sigma Operation Manual Print Screen Figure 73: Print Screen G-code Console Quick Access Macros Page 60 of 68 Revision B July 2020... -
Page 61: Technical Support
PVA uses an automated ticketing system called Team Support. The fastest way to contact PVA for any technical support is to create a ticket. The ticketing system alerts the service department of your region and assigns a service engineer. All service engineers can see the information for each ticket for collaborate responses to more difficult problems from our global team. -
Page 62: Figure 75: Log In
Sigma Operation Manual 2. Select “Log In” to log in to your account or create a new one. Figure 75: Log In 3. The Sign In screen will be shown. Fill in the information and select Sign In. 4. To register, select Create an Account. Fill in the information and select Register Figure 76: Sign In or Register 5. -
Page 63: Figure 78: Complete The Ticket
7. Once complete, select Submit Ticket. Figure 78: Complete the Ticket 8. If you cannot access the PVA Support Portal, email customer service at cs@PVA.net to create a ticket. To reply to a ticket email, select Reply (not Reply All). -
Page 64: Figure 80: Pva Support Hub
Sigma Operation Manual 9. You can also access the PVA Support Hub from “PVA Support Hub” option in the header or through the link https://support.pva.net/. The support hub has processes and procedures on common topics and issues, including the Sigma manual. -
Page 65: Table Of Figures
Figure 4: Sigma Download Website ..................... 16 Figure 5: Download Sigma Manual ...................... 17 Figure 6: Download Inkscape ....................... 18 Figure 7: Install PVA G-code Extension 1 ................... 19 Figure 8: Install PVA G-code Extension 2 ..................19 Figure 9: Access Inkscape Manual ..................... 22 Figure 10: Inkscape Manual ......................... - Page 66 Figure 48: Layer Settings Fill and Stroke ..................44 Figure 49: Edit Layer Settings......................44 Figure 50: Path Object Settings Tab ....................45 Figure 51: Sigma Serial Number Wi-Fi Network ................47 Figure 52: Sigma Web Interface Home Screen ................48 Figure 53: G-code Console ........................49 Figure 54: Enter M587 Command .......................
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Page 67: Notes
Sigma Operation Manual Notes Page 67 of 68 Revision B July 2020... -
Page 68: Warranty
Unauthorized repair or modification of the enclosed product, and/or the use of spare parts not directly obtained from PVA (or from factory authorized dealers) will void all warranties.
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