1) He could help Tom 1)-1 He was able to help Tom 1)-2 He is able to help Tom but he is not doing so . 1)-3 There is a possibility that he can help Tom (in a certain condition in the future or at present) Between #2 and #3, 'blame' is suggested only by the circumstances; it is not inherent in a different meaning of 'could'. 2) He could have helped Tom.
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H M2) He could have helped Tom.It's possible, in the right context, that this could (!) mean: It is possible that he helped Tom