# Parker GV6 Servo Motor Controller

class pymeasure.instruments.parker.ParkerGV6(port)

  Bases: `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