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.