Compatible Devices
Parker Compumotor 6K Series [parker-p6k-g3 | Word]
Verified Device
Parker 6K4‑NK [parker-p6k-g3 | Word]
Notes
Accessible Data
Motion & Basic Control
| Cmd |
Description |
Access |
| A |
Acceleration |
R/W |
| AA |
Average Acceleration |
R/W |
| AD |
Deceleration |
R/W |
| ADA |
Average Deceleration |
R/W |
| D |
Distance |
R/W |
| V |
Velocity |
R/W |
| GO |
Initiate Motion |
W |
| GOL |
Linear Interpolated Motion |
W |
| S |
Stop Motion |
W |
| HALT |
Terminate Program |
W |
Drive & Encoder
| Cmd |
Description |
Access |
| DRIVE |
Drive Enable |
R/W |
| DRES |
Drive Resolution |
R/W |
| ENCPOL |
Encoder Polarity |
R/W |
| ENCSEND |
Encoder Mode |
R/W |
| ERES |
Encoder Resolution |
R/W |
| ENCCNT |
Encoder Reference Enable |
R/W |
Limits & Safety
| Cmd |
Description |
Access |
| LH |
Hardware Limit |
R/W |
| LS |
Soft Limit Enable |
R/W |
| LSNEG |
Negative Limit |
R/W |
| LSPOS |
Positive Limit |
R/W |
| DRFEN |
Drive Fault Enable |
R/W |
| DRFLVL |
Drive Fault Level |
R/W |
Homing
| Cmd |
Description |
Access |
| HOM |
Home |
W |
| HOMA |
Home Acceleration |
R/W |
| HOMAD |
Home Deceleration |
R/W |
| HOMV |
Home Velocity |
R/W |
| HOMVF |
Final Velocity |
R/W |
| HOMZ |
Encoder Z Home Enable |
R/W |
Jog / Manual Control
| Cmd |
Description |
Access |
| JOG |
Jog Enable |
R/W |
| JOGA |
Jog Acceleration |
R/W |
| JOGAD |
Jog Deceleration |
R/W |
| JOGVH |
Jog High Velocity |
R/W |
| JOGVL |
Jog Low Velocity |
R/W |
| JOY |
Joystick Mode |
R/W |
Follower / Master Functions
| Cmd |
Description |
Access |
| FOLEN |
Follower Enable |
R/W |
| FOLMD |
Master Distance |
R/W |
| FOLRN |
Ratio Numerator |
R/W |
| FOLRD |
Ratio Denominator |
R/W |
| FMAXA |
Max Acceleration |
R/W |
| FMAXV |
Max Velocity |
R/W |
Scaling & Control
| Cmd |
Description |
Access |
| SCALE |
Enable Scale Factors |
R/W |
| SCLA |
Accel Scale |
R/W |
| SCLD |
Distance Scale |
R/W |
| SCLV |
Velocity Scale |
R/W |
| SCLMAS |
Master Scale |
R/W |
Servo / PID
| Cmd |
Description |
Access |
| SGP |
Proportional Gain |
R/W |
| SGI |
Integral Gain |
R/W |
| SGV |
Velocity Gain |
R/W |
| SGVF |
Velocity Feedforward |
R/W |
| SGAF |
Acceleration Feedforward |
R/W |
| SGILIM |
Integral Limit |
R/W |
Path Motion
| Cmd |
Description |
Access |
| PA |
Path Acceleration |
R/W |
| PAD |
Path Deceleration |
R/W |
| PV |
Path Velocity |
R/W |
Status / Feedback
| Cmd |
Description |
Access |
| TAS |
Axis Status |
R |
| TFB |
Feedback Position |
R |
| TIN |
Input Status |
R |
| TOUT |
Output Status |
R |
| TPC |
Commanded Position |
R |
| TPE |
Encoder Position |
R |
| TPER |
Position Error |
R |
| TVEL |
Commanded Velocity |
R |
| TVELA |
Actual Velocity |
R |
| TSS |
System Status |
R |
Variables
| Cmd |
Description |
Access |
| VAR |
Numeric Variable |
R/W |
| VARI |
Integer Variable |
R/W |
| VARB |
Binary Variable |
R/W |
| VARCLR |
Clear Variables |
W |
© HMS Networks AB 2025