# Parker GV6 Servo Motor Controller

class `pymeasure.instruments.parker.``ParkerGV6`(port)

  Bases: `pymeasure.instruments.instrument.Instrument`

  Represents the Parker Gemini GV6 Servo Motor Controller and provides a high-level interface for interacting with the instrument

  property `angle`

    Returns the angle in degrees based on the position and whether relative or absolute positioning is enabled, returning None on error

  property `angle_error`

    Returns the angle error in degrees based on the position error, or returns None on error

  `disable`()

    Disables the motor from moving

  `echo`(enable=False)

    Enables (True) or disables (False) the echoing of all commands that are sent to the instrument

  `enable`()

    Enables the motor to move

  `is_moving`()

    Returns True if the motor is currently moving

  `kill`()

    Stops the motor

  `move`()

    Initiates the motor to move to the setpoint

  property `position`

    Returns an integer number of counts that correspond to the angular position where 1 revolution equals 4000 counts

  property `position_error`

    Returns the error in the number of counts that corresponds to the error in the angular position where 1 revolution equals 4000 counts

  `read`()

    Overwrites the Instrument.read command to provide the correct functionality

  `reset`()

    Resets the motor controller while blocking and (CAUTION) resets the absolute position value of the motor

  `set_defaults`()

    Sets up the default values for the motor, which is run upon construction

  `set_hardware_limits`(positive=True, negative=True)

    Enables (True) or disables (False) the hardware limits for the motor

  `set_software_limits`(positive, negative)

    Sets the software limits for motion based on the count unit where 4000 counts is 1 revolution

  property `status`

    Returns a list of the motor status in readable format

  `stop`()

    Stops the motor during movement

  `use_absolute_position`()

    Sets the motor to accept setpoints from an absolute zero position

  `use_relative_position`()

    Sets the motor to accept setpoints that are relative to the last position

  `write`(command)

    Overwrites the Insturment.write command to provide the correct line break syntax