Please refer to Chapter 2 pgs 34-46 of the 6k Programmers Guide for more information about the 6k Communications Server.
This is an example of connecting to the 6k via Ethernet.
Note: The 192.168.10.30 is the address of the 6k which can be found by a NTADDR command from the terminal of Motion Planner.
'create an object variable, initialize it to an Ethernet
'interface and make a connection
Dim commserver As Object
Set commserver = CreateObject("COM6SRVR.NET")
This is an example of connecting to the 6k via RS232.
'create an object variable, initialize it to an RS-232
'interface and make a connection to PC COM1
Dim MyMachine As Object
Set MyMachine = CreateObject("COM6SRVR.RS232")
There are more examples for VB on the Motion Planner CD, 6K/SAMPLES/VB5.