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Global Variable Declarations

Legacy MCode Variables

Kept for compatibility. These are:

  • Ve - MCode version. if Ve != DVER, MCode gets uploaded by IOC.
  • Pu - Power-up status flag

Pulse Picker Variables

  • Se - Pulse Picker mode [Se]lect. Refer to Mode List for a complete list of Se modes.

  • Sd - Status indicator register. Used for debugging. Refer to Status List for a complete list of statuses.

  • Sw - [Sw]eep distance. Number of steps/encoder counts to equal 11.25 degrees of motion.

  • Dr - Motor-encoder [Dr]ift, or the difference between the encoder count and the motor count. Equals C2-P.

  • P0 - Center (open) position.
  • P1 - Positive closed position, nominally P0+Sw. (Repurposed from standard MCode program.)
  • P2 - Negative closed position, nominally P0-Sw.
  • Ec - Error checking flag. (0=OFF, 1=ON)
  • Ns - Pulse Picker MCode version. (Repurposed from standard MCode program.)
  • Hb - Heartbeat counter, incremented approx. every 100ms.

Program 1

Initialization

Declare local variables:

  • Po - Position counter shadow register (=P or =C1)
  • Cs - Encoder counter shadow register
If Sd=99, we are experiencing a hard reset (either first MCode load, or triggered from EPICS interface).
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