Yes you can do this by selecting "Open Authentication" in the SSID, making sure the "Captive Portal" check box is not checked, and make sure your role is a registered role (and not the "Un-registered role") and people should be able to associate by just clicking on the SSID.
This is a common method for simple guest access.
ADTRAN Product Support
Thank you for the response. I do not see a checkbox like you mentioned. Below is what I see. I don't seem to have an option to not choose a login form in the drop down either.
You are running some older software, but here you just need to change the Role to a destination role other than the Un-Registered role.
Product Support Engineer