Possible to bind ESC to a command under motion state?

Hi, I am under _terminal_ emacs. I'd like to bind <esc> to a command(actually evil-motion-state) when I am under evil motion state, while keeping other binding, namely, M-0 usable. Since M-0 sends ^[0 while "esc" simply sends ^[, that's the problem here. I'd guess the method is the same as how "esc" binding is done under the normal state, e.g., use a time limit to test whether it's a "esc" or it's a M-0. Why I need this? It's because, for example, when I do a "c-h c-c c-c", I am dropped into the help window. It's in the motion state. I've been in the habit of unconsciously hitting the <esc> key. -- 吾輩は猫である。ホームーページはhttps://introo.me <http://introo.me>。