# MG400 connectivity and safety prerequisites

This chapter covers MG400 prerequisites for the `DobotCtrl` implementation, not a replacement for the manufacturer's manuals.

## Network

The DobotStudio Pro user manual identifies the default LAN1 address as `192.168.1.6` and LAN2 as `192.168.2.6`. `DobotCtrl` also defaults to `192.168.1.6`. Confirm the actual robot configuration and place the controller and host on an appropriate network.

This implementation uses Dashboard port `29999`, Motion port `30003`, and real-time feedback port `30004`. These are implementation-level interfaces, distinct from the DobotStudio Pro GUI procedures.

## Before operation

The MG400 Maintenance Manual V1.2 requires safety-system checks, risk assessment, a clear workspace, and appropriate tool and payload settings. Never connect safety devices to ordinary I/O. Do not treat software `stop()` or `halt()` as an emergency-stop circuit.

Collision detection is not a substitute for risk assessment or protective measures. Follow manufacturer procedures before executing motion examples.

## Coordinates

The common Cartesian interface uses `[x, y, z, rx, ry, rz]`; the four-axis MG400 represents `[x, y, z, r]`. The implementation maps `r` to `rz`, without implying independent control of `rx` and `ry`. Joint vectors similarly map between six common slots and four physical joints.

**References:** DobotStudio Pro User Manual (MG400 & M1 Pro); DOBOT MG400 Maintenance Manual V1.2 (2026-04-23). Manufacturer hardware instructions and project software semantics are distinct.