Nortech Systems Adept RS-232/TERM - Manual (Page 132)

Appendix C - Using the Manual Control Pendant (MCP)
132 Adept SmartController User’s Guide, Rev. E
To re-enable High Power after pressing the MCP emergency stop switch, follow this
process:
1. Turn the emergency stop switch to the right (clockwise). The switch is spring
loaded and will return to its normal position.
2. Depress the enabling switch. High Power can now be re-enabled by pressing the
COMP/PWR button (mode control group), or by entering the ENABLE POWER
command from the keyboard.
3. Press the blinking High Power button on the Front Panel (or CIP2 in an MV
controller system). High Power is enabled and current can flow to the robot
motors.
Re-Enabling Power After Enable Switch Released
In Automatic Mode
Original SmartController
When the system is operating in Automatic Mode and you release the Enable switch (or
go to position 3 in the 3-position switch), the system turns off the same as an E-stop
condition. To re-enable high power you must follow the steps from the previous section.
CAT-3 SmartController
In a CAT-3 SmartController, when operating in Automatic Mode, the Enable Switch is
ignored by the system. Releasing the Enable switch has no effect on operation. See
Section
1.6 on page 21 for more information.
In Manual Mode
When the system is operating in Manual Mode and you release the Enable switch (or go to
position 3 in the 3-position switch), the system turns off in a controlled manner. This puts
the system in a different state than when the E-Stop button is pressed. To re-enable high
power, follow this process:
1. Turn the emergency stop switch to the right (clockwise). The switch is spring
loaded and will return to its normal position.
2. Depress the enabling switch. High Power can now be re-enabled by pressing the
COMP/PWR button (mode control group), or by entering the ENABLE POWER
command from the keyboard. High Power is enabled and current can flow to the
robot motors. This makes it more convenient during development and
programming a system.
NOTE: The exception to this situation is when a CAT-3 SmartController is
used in a SmartModules system with a PDU-2. You have to press the
blinking High Power button on the Front Panel.
See “Operational
Change in SmartModule Systems” on page 22.