Nortech Systems Adept RS-232/TERM User Manual

The emergency stop switch will stop program execution and turn off High Power. If your 
robot is equipped with brakes, they will be activated. 

If High Power is enabled, the COMP/PWR button selects computer mode. If the system is 
in AUTO mode and High Power is disabled, the COMP/PWR button enables High Power 
and selects computer mode. In computer mode, an executing program or the system 
terminal has control of the robot. (If the robot has not been calibrated and High Power is 
turned on, the MCP emergency stop switch LED will be lit, and both the COMP/PWR 
and MAN/HALT LEDs will be off.)

After you press the COMP/PWR button to enable High Power, the High Power lamp 
begins blinking and the LCD prompts you to press the High Power button. You must 
press this button before within the allowed time (this time is programmable) or High 
Power will not be enabled.

If the system is in Manual mode and you press the COMP/PWR button to enable High 
Power, you need to take the following actions:

• release the MCP enable switch

• press and hold the MCP enable switch (position 2 in MCP-4)

• press the High Power button within the allowed time.

When there is no program executing, or a program has paused for a pendant teach 
routine, pressing the MAN/HALT button selects manual mode. In manual mode, the 
MCP has control of the robot. If a program is executing, the MAN/HALT button will stop 
program execution (without shutting off High Power). 

Manual mode cannot be entered if High Power is off (E-Stop button LED not illuminated). 
To enable High Power, press the COMP/PWR button. The MCP is in manual mode when: 

1. The LED on the MAN/HALT button is illuminated, and

2. One of the manual state LEDs is also illuminated (the manual state LEDs indicate 

the type of manual motion that has been selected, either World, Tool, Joint, or 
Free).

The system will remain in Manual mode until High Power is turned off or the 
COMP/PWR button is pressed. When you have finished moving the robot manually, 
press the COMP/PWR button to return control to the controller. If a program attempts to 
execute with the MCP in manual mode, the error “Comp mode disabled” will be 
generated.

When the MAN/HALT button is pressed the first time, the MCP will be in world state. 
Pressing the MAN/HALT button again selects the next state to the right (tool, joint, free), 
eventually wrapping back to the leftmost state (world). If manual mode is terminated and 
reentered (without turning off system power) the last active state is selected.