Turbo pmac treat the "servo IC" of the handwheel as a macro IC.
See the codes below,you can use the handwheel as a general pulse+direction axis.
I6800 = 1001 ; PWM frequency 29.4kHz, PWM 1-4
I6801 = 5 ; Phase Clock 9.8kHz
I6802 = 3 ; Servo frequency 2.45kHz
I6803 = 1780 ; ADC frequency
i1300=1
i6804=15
i6810=7
i6816=3
i1302=$78414
i1324=$120001
i1325=$78410 ;first supplementary registers respectively
i8012=$c78410
I1303=$350d
I1304=$350d
i1323=-5 ;Motor xx Home Speed and Direction