Eastbourne MP Josh Babarinde said earlier in the summer he met with members of the congregation of Guanco's church.
"Their energy and spirit was inspiring," he said.
"This, in so many ways, is a testament to his pastorship and his commitment to his church.
"I cannot imagine how difficult this must be for his family - Pastor Robert was a father and husband too - and I send them and his church my most sincere condolences."
The Big Church Festival, which describes itself as the UK's biggest Christian festival, was founded in 2009.
The event at Wiston Park began on Friday and was due to continue until Sunday, but a decision was made by organisers to cancel the remainder of the event after the incident.
The Archbishop of Canterbury said she was "sad and shocked" to hear about the fatal incident.
Dame Sarah Mullally said: "I pray for his family, friends and loved ones as they grieve. I pray for those receiving treatment, and the healthcare workers looking after them.
"And I pray too for the other festival goers, staff and event organisers as they come to terms with these tragic events."
Witnesses said people rushed to lift the heavy sign, which read "Everything's Unmissable", after it had fallen over in the wind.
Festival organisers said they were working with emergency services as they established the circumstances surrounding the incident.
Sussex Police is urging anyone with information about the incident to contact them.
The force said the Health and Safety Executive and local authority had also been informed about the incident.
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