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Sigma Benchtop Robot

Owner’s Manual

Revision B

INNOVATION.

PRECISION.

EXCELLENCE.

Содержание Sigma

Страница 1: ...Sigma Benchtop Robot Owner s Manual Revision B INNOVATION PRECISION EXCELLENCE ...

Страница 2: ... 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 info...

Страница 3: ...d 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 ...

Страница 4: ...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 ...

Страница 5: ...5 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 Macr...

Страница 6: ...Sigma Operation Manual Revision B July 2020 Page 6 of 68 Control Screen Overview 58 Technical Support 61 Calling Technical Support 61 Support Portal 61 Table of Figures 65 Notes 67 Warranty 68 ...

Страница 7: ...stang Drive Cohoes NY 12047 Tel 1 518 371 2684 Fax 1 518 371 2688 Website http www pva net Email info pva net Technical Support Tel 1 844 734 0209 Email cs pva net 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 repres...

Страница 8: ...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 y...

Страница 9: ...e 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 s...

Страница 10: ...r 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 pers...

Страница 11: ... 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 ...

Страница 12: ... 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 workc...

Страница 13: ...l 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 ...

Страница 14: ... 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 ...

Страница 15: ...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 ...

Страница 16: ...wnloads 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 ...

Страница 17: ... 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 ...

Страница 18: ... 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 ...

Страница 19: ... 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 ...

Страница 20: ...t 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 ...

Страница 21: ... each model Notices and Warnings You must wear safety glasses gloves and long sleeves Lock out and tag the air and power supplies before you service or clean any part of this equipment Release the pressure before any hose air or fluid is removed All hoses must have the correct pressure rating Use only replacement parts recommended or supplied by the manufacturer Stay away from all parts that move ...

Страница 22: ...n 0 92 4 Inkscape must be downloaded prior to use Download instructions were included with Sigma Inkscape Manual This manual will cover the basic functions needed to create a dispense path in Inkscape as well as the PVA G code Generator extension For more information on how to use Inkscape please refer to the Inkscape manual Accessing Inkscape Manual 1 Select Help Inkscape Manual The Inkscape manu...

Страница 23: ...gure 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 Figure 12 Set Workspace Dimensions Note If a template has already been created for the workspace dimensions select New From Template For more information see the Open a Template section ...

Страница 24: ... 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 3 Highlight to view the template details 4 Double click the template or select Create From Template The template will open as a new document Figure 14 New Document from Template ...

Страница 25: ... 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 Figure 16 Layer Dropdown ...

Страница 26: ... for the dispense path Ensure that the reference image is scaled correctly Skip this section if it does not apply 1 Select File Import or Ctrl I and select the file to import Figure 17 Import Image 2 From the JPEG Bitmapp Image Import window choose the Image Import Type Image DPI and Image Rendering Mode 3 Click OK to continue Figure 18 Import Image ...

Страница 27: ...ly 2020 Page 27 of 68 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 ...

Страница 28: ... 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 Figure 20 Transform and Object Attributes ...

Страница 29: ...e Relative checkbox is selected If the box is not checked the lower left corner of the objects bounding box will be moved to the given coordinate Figure 21 Move Tab Scale Tab Use the Scale tab to scale an object An object will be scaled relative to the center of its bounding box Use the dropdown to change the units and manually enter the correct size in millimeters The Scale Proportionally option ...

Страница 30: ...w Tab Use the Skew tab to skew an object An object can be skewed in horizontal and vertical directions separately The skewing is relative to the center of the bounding box The magnitude of the skew can be specified as a distance percentage or angle In all cases the skew is relative to the size of the bounding box Figure 24 Skew Tab Note Width Height XY Position and Rotation of the image can also b...

Страница 31: ...rdinates 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 Manually enter the X and Y position in the Tool Controls bar Use the Move tab in the Transform panel Figure 26 Move Image ...

Страница 32: ...ioned 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 Select the image In Layer Information at the bottom of the screen select the layer that should be locked Click the Lock icon to lock the layer Figure 27 Lock Layer ...

Страница 33: ...t a line was created Create a Line 1 Once a new layer has been created select or Shift F6 to select the Pen tool 2 Select the desired Mode from the Tool Controls bar Create regular path Create Spiro path Create BSpline path Create a sequence of straight line segments Create a sequence of paraxial line segments Figure 28 Mode Options 3 Click on the desired start point to begin the line Figure 29 St...

Страница 34: ... and click the line that needs to be edited 2 To resize the line click and drag the white arrows to scale Figure 31 Resize Line 3 Use the Arrow keys to move the last node created while drawing a path Shift Arrow moves the node by ten times the normal step 4 To delete the last node drawn use the Backspace key or Delete key 5 To delete an unfinished path use Esc or Ctrl Z 6 To extend a previously dr...

Страница 35: ... 1 Select the Circle tool 2 Click and hold at the start point of the circle Drag to create the circle Figure 32 Create Circle Note To create a perfect circle hold Ctrl as you click and drag the circle Edit a Circle 1 Using the Select tool click on the circle that needs to be edited 2 Use the arrows to resize the circle 3 To move the circle click and drag the circle to a new location Figure 33 Resi...

Страница 36: ... the arc to the end point 1 Use the Select tool to select the circle that should be changed to an arc 2 Once the circle is selected select the Node Editing tool 3 Click and drag the white node to create a start and end point Figure 34 Create Arc 4 Select the Circle tool and the Switch to Arc command Figure 35 Switch to Arc Command ...

Страница 37: ...Node Editing tool Click and drag the white circle to move the start and end points Figure 37 Edit Arc Starting Points Node Tool Dispense paths can be edited using the Node Tool This flexible tool enables the addition deletion and movement of nodes 1 Select the Node Tool by clicking on the icon 2 Select the object that needs to be edited Once selected the nodes will appear on the object 3 Use the i...

Страница 38: ...odes Join merge selected endnodes Break path at selected nodes Each selected node is converted into two end nodes Join selected endnodes with a new segment Delete segment between two non endpoint nodes Figure 38 Node Tool Icons Set Fill and Stroke The fill and strike of lines circles and arcs can easily be edited for more visibility while you are working There are four ways to change the fill and ...

Страница 39: ...of 68 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 Figure 42 Fill and Stroke Option 4 ...

Страница 40: ... 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 Select an object or layer and use the icons below to arrange them in the desired order Figure 43 Edit Path Order Collapse Expand All Move to Top Move Up Move Down Move to Bottom Figure 44 Path Ord...

Страница 41: ...A 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 Figure 45 PVA Gcode Generator ...

Страница 42: ...un without opening the valve This will allow the user to test the dispense path without dispensing any material Directory The Directory field is where the G code file will be saved on the computer There is no browse option the address must be manually entered Once a directory address is entered it will be retained until it is changed File Name The Filename field is where the G code file name will ...

Страница 43: ...tings for the active layer in a text box Hide Layer Settings This action will hide the text box settings for the active layer Import Layer Settings from Displayed This action will load the settings from the active layer Viewing and Editing 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 Gcod...

Страница 44: ...er 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 The Layer Settings will update Travel Speed Enter a Travel Speed that the robot will travel while it is not dispensing Safe Z Height After each dispense segment the robot will mov...

Страница 45: ...Note To select an object the layer must be unlocked Figure 50 Path Object Settings Tab Unique ID 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 if the circuit board is 5 mm and the desired ...

Страница 46: ...d 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 Dot Specific Settings Dispense Dot Time The time in milliseconds that the valve will dispense onto the center point of the circle Post Dot Dwell The time in milliseconds that the valve will wait after dispensing before it continues to the next dispense point ...

Страница 47: ...r Sigma Wireless Connection Setup 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 2 The control screen will start up on its own 3 Connect to the network matching the serial number The serial...

Страница 48: ...ly 2020 Page 48 of 68 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 ...

Страница 49: ... G Code Console Figure 53 G code Console M587 Command The M587 command will be used to send your desired network information to the web interface s G code console The M587 command must include three components 1 S Network SSID Must be enclosed in quotation marks Case sensitive 2 P Network Password Must be enclosed in quotation marks Case sensitive 3 I IP address to use when connected to this netwo...

Страница 50: ...lows M587 S TEST_Network P Testing123 I1 160 10 240 1 In the Send G code field enter the full M587 command 2 Click Send A connection established message will appear Figure 54 Enter M587 Command Additional Commands To view stored networks enter M587 To see the current network connection and IP enter M552 To remove the network from memory enter M588 S NETWORK_NAME To remove all networks from memory ...

Страница 51: ...to client mode select Settings 2 Select System Editor 3 Navigate to the config g file and right click From the menu select Edit Figure 55 Access System Editor 4 The file will open Navigate to the Network section 5 To select a network a semicolon must be placed in front of the network and removed from the other networks Figure 56 Edit Config g File ...

Страница 52: ...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 9 Click Yes to reboot the web interface Figure 58 Reboot Confirmation The web interface will confirm the file was successfully updated Figure 59 File Updated ...

Страница 53: ...ontrol screen as the console tab of the web interface The green popup will disappear after 10 seconds 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 This file can opened and modified with a program editor such as Notepad ...

Страница 54: ...se the Web Interface and Control Screen are provided in the next sections Web Interface Overview Header Bar The Header bar allows you to view machine status connect and disconnect the machine quickly enter a G code upload a G code to run and stop the machine Figure 61 Header Overview Machine Control Machine Control allows you to home the X Y and Z axis and jog individual axis You can also quickly ...

Страница 55: ... 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 The console output can be downloaded as a plain text or CSV file G code Files G Code Files allows for G code files to be uploaded downloaded deleted and sorted into sub directories Figure 64 G code ...

Страница 56: ...y 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 You can also rename or delete the file as well as manually edit the G code Figure 66 G code Right Click Options ...

Страница 57: ...Sigma Operation Manual Revision B July 2020 Page 57 of 68 Figure 67 Edit G Code Macros Macros allows you to upload and edit user defined macros Figure 68 Macros ...

Страница 58: ...verview 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 Access G code Files Figure 70 Access G code Files Control ...

Страница 59: ...Sigma Operation Manual Revision B July 2020 Page 59 of 68 Move Individual Axis Figure 71 Move Axis Control Access Macro Files Figure 72 Access Macro Files Control Control Screen Current Screen ...

Страница 60: ...Sigma Operation Manual Revision B July 2020 Page 60 of 68 Print Screen Figure 73 Print Screen G code Console Quick Access Macros ...

Страница 61: ...repeat the problem may have been operator generated Support Portal 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 di...

Страница 62: ... 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 Me Figure 76 Sign In or Register 5 When you are signed in select Submit a Ticket from the header Figure 77 Submit a Ticket ...

Страница 63: ...e Include the equipment serial number and any screenshots photos or videos 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 Figure 79 Example Ticket Email ...

Страница 64: ...lso 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 Figure 80 PVA Support Hub Figure 81 Support Hub Website ...

Страница 65: ...rom Template 24 Figure 15 Add New Layer 25 Figure 16 Layer Dropdown 25 Figure 17 Import Image 26 Figure 18 Import Image 26 Figure 19 Image Example 27 Figure 20 Transform and Object Attributes 28 Figure 21 Move Tab 29 Figure 22 Scale Tab 29 Figure 23 Rotate Tab 30 Figure 24 Skew Tab 30 Figure 25 Tool Controls Bar 30 Figure 26 Move Image 31 Figure 27 Lock Layer 32 Figure 28 Mode Options 33 Figure 29...

Страница 66: ...nfig g File 51 Figure 57 Change Network 52 Figure 58 Reboot Confirmation 52 Figure 59 File Updated 52 Figure 60 Sigma Control Screen WiFi Confirmation 53 Figure 61 Header Overview 54 Figure 62 Machine Control Overview 54 Figure 63 Job Status Overview 55 Figure 64 G code Files 55 Figure 65 Upload G Code File 56 Figure 66 G code Right Click Options 56 Figure 67 Edit G Code 57 Figure 68 Macros 57 Fig...

Страница 67: ...Sigma Operation Manual Revision B July 2020 Page 67 of 68 Notes ...

Страница 68: ...warranties extend only to the original purchaser Third party warranty claims will not be honored at any time Prior to returning a product for a warranty claim a return authorization must be obtained from PVA s Technical Support department Authorization will be issued either via the telephone facsimile or in writing upon your request To qualify as a valid warranty claim the defective product must b...

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