# MG400 Commissioning and Operational Checks

This page explains the boundary between **MG400 hardware and the dobot Python control program**. The DobotStudio Pro manual describes the manufacturer's software, not the Python API. Manufacturer safety procedures take precedence.

## Networking

The DobotStudio Pro user manual lists default addresses `192.168.1.6` for LAN1 and `192.168.2.6` for LAN2. The `DobotCtrl(dobot_ip="192.168.1.6")` default matches LAN1; use the actual configured address if changed.

The project uses Dashboard port `29999`, Motion port `30003`, and Feedback port `30004`. Feedback is a separate communication path from command submission; allow for delayed or lost status updates.

## Safety and enabling

The manufacturer's MG400 Maintenance Manual V1.2 (2026-04-23) requires risk assessment, safety-function checks, and adequate workspace clearance. **Do not connect safety devices to ordinary I/O terminals.** `halt()` and `stop()` are not implemented and cannot replace safety circuits.

DobotStudio Pro documents that the robot must be enabled before motion and that incorrect payload settings can affect collision detection. `turn_on_motor()` maps to `EnableRobot()`; it does not perform safety checks or configure payload automatically.

## Commissioning sequence

1. Verify installation, wiring, and protective functions using manufacturer procedures.
2. Verify the actual MG400 IP address and network connectivity.
3. Start with read-only calls such as `get_current_position()` and `get_current_angle()`.
4. Check coordinate frames, tool, payload, and workspace limits using the manufacturer's tools.
5. Perform motion trials only under appropriate safeguards and supervision.

For belt replacement, calibration, and maintenance, consult the manufacturer's maintenance manual rather than treating this Python library as a maintenance procedure.

**References:** *DobotStudio Pro User Manual (MG400 & M1 Pro)*, sections on connection, configuration, and enable state; *DOBOT MG400 Maintenance Manual* V1.2, safety and inspection sections. **Only MG400 hardware is supported by this project.**