Two Technologies ProMotion, Technical Reference Manual

Page: 66 / 97

ANSI Mode Host Commands 54
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.
In this scenario, the ProMotion controls a robotic free-swinging arm ( Figure 5-4 ), 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
).
A flowchart ( Figure 5-5 ) appears on the following page.
Figure 5-4: Using ACM in a Robotic Environment
ENQ DLE ACK
I/O