2T Technology HV ANSI Series, Technical Reference Manual

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ANSI Mode Host Commands
5-14
Example: Using ACM in a Robotic Environment
The following example shows the use of ACM in an industrial environment where safety during
operation is a primary concern. A flowchart ( Figure 5-3 ) appears on the following page
In this scenario, the terminal controls a robotic free-swinging arm ( Figure 5-2 ), where:
1. The host transmits an ENQ (
05h
) every 25 ms to the terminal to determine its state (Normal
mode or ACM).
2. The terminal in response will either send an ACK (
06h
) to indicate Normal mode or a DLE
(
10h
) to indicate DLE. If a timeout occurs for any reason, the host will stop the robotic arm.
3. In Normal mode, you can perform operations such as displaying graphics and switching to
ACM
(Esc [1v
).
4. In ACM, you can press a key to move the arm and release a key to stop the arm. You can also
switch back to Normal mode
(Esc [21v
).
Figure 5-2: Using ACM in a Robotic Environment
ENQ DLE ACK
I/O