I’m running a Parker 6K motion controller that drives two GV6 servo drives and a pair of SM231 motors, and I need a clean, dependable program written in the 6000 language to bring the whole package to life. The brief is straightforward: the system must accept manual input from a single joystick and translate it into precise positioning and smooth, adjustable speed control on both axes, even during complex, multi-axis moves. What I expect the code to handle • Absolute and incremental positioning with sub-0.02 mm repeatability • Real-time speed scaling from the joystick’s analog signal (±10 V) • Coordinated two-axis paths, not just simple point-to-point moves • Homing, software travel limits, and fault handling tied to discrete inputs • Clean, well-commented 6K BASIC / 6000 commands so I can tweak parameters later Alongside the main program, I’ll need any GV6 parameter sets you change, plus a short setup guide covering download steps, gain tuning, and basic diagnostic checks. Acceptance criteria When the program is loaded, both SM231 axes must respond fluently to joystick commands, hold the commanded positions within tolerance, and run to 300 mm/s without generating following-error faults or tripping limits. If you’ve already tackled Parker 6K or GV6 projects—especially anything joystick-driven—let me know what you delivered and how you managed the analog inputs. I’m ready to move quickly once I see the right experience.