וְכִֽי־תְשַׁלְּחֶ֥נּוּ חָפְשִׁ֖י מֵֽעִמָּ֑ךְ לֹ֥א תְשַׁלְּחֶ֖נּוּ רֵיקָֽם׃
At kapag pinalaya mo siya mula sa iyo, huwag mo siyang paalisin nang walang dala.
Sefer HaMitzvot
He prohibited the sending away of a Hebrew (Jewish) slave empty-handed when he goes out to freedom at the end of six years, but we must rather requite him with something from our wealth under all circumstances. And that is His saying, "And when you send him free from you, do not send him empty-handed" (Deuteronomy 15:13). And the regulations of requiting have already been explained in Chapter 1 of Kiddushin. (See Parashat Re'eh; Mishneh Torah, Slaves 3.)