# Control API coverage and operational cautions

This table follows the comments and delegation structure of the supplied `DobotCtrl` source. The existence of a method on `DobotCtrl` does not guarantee that it is supported by the MG400.

## Public methods versus hardware support

| API | Behavior identified in source | Limitations |
|---|---|---|
| `move()` | P+PTP → MovJ; P+LINE → MovL; J+PTP → JointMovJ | Semantics-preserving support for `path_blend`, `decel`, `pose`, CIRCLE and SPLINE is not established. Review `is_async` and `Sync()`. |
| `drive()` | Axis/value input, `relative`, `speed`, `is_async` | No semantics-preserving `path_blend` implementation; MG400 has no J5/J6. |
| `dev()` | Addition in x/y/z/rz | A four-axis MG400 cannot represent rx/ry. |
| `rotate()` | Method is exposed | Conversion of plane/angle/center into an MG400 trajectory is not implemented. |
| `set_path_blend()` | Method is exposed | No safe mapping to the DOBOT CP parameter is defined. |
| `halt()` / `stop()` | Methods are exposed | The corresponding common-interface stop behavior cannot be guaranteed on MG400. |
| `hand_stop()` | Method is exposed | Requires a defined end-effector model, I/O and communication scheme. |


**Safety:** Do not rely on unsupported methods as emergency stopping mechanisms. Emergency stopping must be provided by the equipment safety system.

## Public method signatures extracted from source

- `connect()`
- `get_version(rel_toml_path)`
- `delete()`
- `disconnect()`
- `halt()`
- `task_stop()`
- `hand_stop()`
- `stop()`
- `reset_error()`
- `release_arm()`
- `motion_complete()`
- `get_motion_complete()`
- `wait_for_complete()`
- `change_work(work_no)`
- `get_current_work_no()`
- `get_work(work_no)`
- `set_work(work_no, work_define, work_attribute)`
- `change_tool(work_no)`
- `get_current_tool()`
- `get_current_tool_no()`
- `get_tool_define(tool_no)`
- `get_tool(tool_no)`
- `set_tool_define(tool_no, tool_define)`
- `set_tool(tool_no, tool_define)`
- `take_arm()`
- `give_arm()`
- `coord_type()`
- `coord_type(coord_type)`
- `set_coord_type(coord_type)`
- `get_coord_type()`
- `path_blend()`
- `path_blend(value)`
- `set_path_blend(path_blend)`
- `get_path_blend()`
- `motion_mode()`
- `motion_mode(value)`
- `set_motion_mode(mode)`
- `get_motion_mode()`
- `task()`
- `task_state()`
- `get_task_status()`
- `current_position()`
- `current_angle()`
- `speed()`
- `jspeed()`
- `extspeed()`
- `accel()`
- `decel()`
- `extaccel()`
- `extdecel()`
- `lock()`
- `busy_status()`
- `is_running()`
- `state()`
- `servo_on()`
- `direct_mode()`
- `get_direct_mode()`
- `get_current_position()`
- `get_current_pose()`
- `get_current_angle()`
- `error_code()`
- `error_description()`
- `get_current_error_info()`
- `get_error()`
- `get_error_code()`
- `get_error_count()`
- `get_error_info(index)`
- `get_error_description(error_code)`
- `print_error_info(e)`
- `print_error(e)`
- `set_speed(speed)`
- `get_speed()`
- `set_jspeed(speed)`
- `get_jspeed()`
- `set_accel(accel)`
- `get_accel()`
- `set_decel(decel)`
- `get_decel()`
- `set_extspeed(speed)`
- `get_extspeed()`
- `set_extaccel(extaccel)`
- `get_extaccel()`
- `set_extdecel(extdecel)`
- `get_extdecel()`
- `turn_on_motor()`
- `turn_off_motor()`
- `p2j(p_type_pos)`
- `j2p(j_type_pos)`
- `dev(base, offset)`
- `move(target, *, motion_mode, coord_type, path_blend, offset, pose, speed, accel, decel, is_async)`
- `approach(lComp, vntPoseBase, vntPoseLen, bstrOpt)`
- `drive(target, *, relative, path_blend, speed, is_async)`
- `rotate(plane, angle, center, *, path_blend, speed, is_async)`
- `get_IO(id_num)`
- `get_digital_input(id_num)`
- `set_IO(id_num, value)`
- `autocal(origin)`
- `get_motion_preparation()`
- `run_script()`
- `init_hand()`
- `open_hand(speed)`
- `hand_open(speed)`
- `hand(pos, *, position, force, direction, relative, speed, is_async)`
- `start_log()`
- `stop_log()`
- `clear_log()`
- `start_servo_log()`
- `stop_servo_log()`
- `clear_servo_log()`
- `get_log_count()`
- `get_log_record(index)`

Signatures are extracted mechanically from public `DobotCtrl` definitions. Consult method comments and `DobotTcp` for actual implementation status.