Possible but you run robot in EXT not AUT.
To simulate robot inputs (for ackn.messages and drives on) you have to wire robot outputs to robot inputs.
Than you need some logic to operate that in robot submit.
One of the guys mention that already.
Other option is to wire push buttons for ackn. message and drives on , run robot in EXT and just press the buttons in correct order (you can add LEDS for feedback - robot responses)