In case there's any confusion, the mplabx ipecmd.exe is the generic command-line driver that can handle any of the programmers.

The '傍P' option lets you select which tool:
傍PPK3 PICkit3
傍PICD4 MPLAB ICD4
傍PICD3 MPLAB ICD3
傍PRICE MPLAB REALICE
傍PPM3 MPLAB PM3
傍PPKOB PICkit On Board (PKOB) demo boards

The april update of mplabx is supposedly going to add the Pickit4.

For legacy purposes, some tool-specific command line interfaces are available:
RealICECMD.exe
ICD3CMD.exe
PK3CMD.exe
PM3CMD.exe

Probably easier to just follow Henrik's example and use ipecmd.exe for all of them.