에뮬레이터 개발 전.

2025-12-12 14:29:06 +09:00
parent ee2a6f04bb
commit 07ddc0425f
35 changed files with 952 additions and 1242 deletions
--- a/Cs_HMI/Project/AGV4.csproj
+++ b/Cs_HMI/Project/AGV4.csproj
@@ -284,6 +284,15 @@
    <Compile Include="Properties\AssemblyInfo.cs" />
    <Compile Include="PUB.cs" />
    <Compile Include="CSetting.cs" />
+    <Compile Include="StateMachine\Step\_Util.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_IN.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_OUT.cs">
+      <SubType>Form</SubType>
+    </Compile>
    <Compile Include="StateMachine\Step\_SM_RUN_CHGOFF.cs">
      <SubType>Form</SubType>
    </Compile>
@@ -305,12 +314,6 @@
    <Compile Include="StateMachine\Step\_SM_RUN_GOHOME.cs">
      <SubType>Form</SubType>
    </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_OUT.cs">
-      <SubType>Form</SubType>
-    </Compile>
-    <Compile Include="StateMachine\Step\_SM_RUN_BUFFER_IN.cs">
-      <SubType>Form</SubType>
-    </Compile>
    <Compile Include="StateMachine\Step\_SM_RUN_SYNC.cs">
      <SubType>Form</SubType>
    </Compile>
--- a/Cs_HMI/Project/CSetting.cs
+++ b/Cs_HMI/Project/CSetting.cs
@@ -254,20 +254,10 @@ namespace Project
        [Browsable(false)]
        public string musicfile { get; set; }

-        /// <summary>
-        /// FVI로 가능 방향이 Backward 인가?
-        /// Forward 방향이라면 false 를 한다
-        /// </summary>
-        [Browsable(false)]
-        public Boolean AGV_Direction_FVI_Backward { get; set; }
+    
        [Browsable(false)]
        public Boolean Enable_Speak { get; set; }

-        //public Boolean Disable_BMS { get; set; }
-        //public Boolean Log_BMS_Tx { get; set; }
-        //public Boolean Log_BMS_Rx { get; set; }
-        //public double ChargeLimitLow { get; set; }
-        //public double ChargeLimitHigh { get; set; }

        [Browsable(false)]
        public string AGV_PANID { get; set; }
@@ -338,7 +328,7 @@ namespace Project
        /// 스피커출력 간격
        /// </summary>
        [DisplayName("Speak Term")]
-        public int doorSoundTerm { get; set; }
+        public int alarmSoundTerm { get; set; }

        [Browsable(false)]
        public int musicvol { get; set; }
@@ -346,6 +336,16 @@ namespace Project
        public bool Enable_Music { get; set; }
        #endregion

+        #region "Node Mapping"
+
+        [Category("Node Mapping"),DisplayName("Charger")]
+        public string NodeMAP_RFID_Charger { get; set; }
+
+        [Category("Node Mapping"), DisplayName("Home")]
+        public string NodeMAP_RFID_Home { get; set; }
+
+        #endregion  
+
        [Browsable(false)]
        public string LastMapFile { get; set; }

@@ -429,7 +429,7 @@ namespace Project

            //충전은 10분간격으로 재시도 한다
            if (ChargeRetryTerm == 0) ChargeRetryTerm = 600;
-            if (doorSoundTerm == 0) doorSoundTerm = 15; //기본 15초
+            if (alarmSoundTerm == 0) alarmSoundTerm = 15; //기본 15초
            if (ChargeSearchTime == 0) ChargeSearchTime = 25;
            //최대 충전진행 시간(기본 1시간)
            if (ChargeMaxTime == 0) ChargeMaxTime = 3600;
--- a/Cs_HMI/Project/Class/CResult.cs
+++ b/Cs_HMI/Project/Class/CResult.cs
@@ -67,8 +67,7 @@ namespace Project
        /// </summary>
        private ePosition _targetPos = ePosition.NONE;

-        public event EventHandler TargetPosSet;
-
+      
        public string result_message = "";
        public double result_progressmax = 0;
        public double result_progressvalue = 0;
@@ -91,8 +90,6 @@ namespace Project
            set
            {
                _targetPos = value;
-                TargetPosSet?.Invoke(this, null);
-             
                PUB.log.Add(string.Format("대상위치설정:{0}", value));
            }
        }
--- a/Cs_HMI/Project/PUB.cs
+++ b/Cs_HMI/Project/PUB.cs
@@ -94,7 +94,14 @@ namespace Project
            else return false;
        }

-        public static void Speak(string m, Boolean force = false, bool addlog = true)
+        /// <summary>
+        /// 스피커를 통한 음성을 출력합니다
+        /// 출력되는 음성은 기본로그에도 자동 포함됩니다
+        /// </summary>
+        /// <param name="m"></param>
+        /// <param name="force"></param>
+        /// <param name="addlog">로그에도 출력 합니다</param>
+        public static void Speak(string m, Boolean force = false, bool addlog = true,string logcate="")
        {
            if (force == false && PUB.setting.Enable_Speak == false)
            {
@@ -105,7 +112,11 @@ namespace Project
                voice.SpeakAsyncCancelAll();
            if (voice.State == SynthesizerState.Ready)
                voice.SpeakAsync(m);
-            if (addlog) PUB.log.Add("SPEAK", m);
+            if (addlog)
+            {
+                if (logcate.isEmpty()) logcate = "SPEAK";
+                PUB.log.Add(logcate, m);
+            }
        }

        /// <summary>
@@ -150,7 +161,7 @@ namespace Project
        public static AR.Log log, logagv, logplc, logbms, logxbee;

        public static Boolean bPlayMusic = false;
-    
+

        /// <summary>
        /// 사용자 인풋 감지 시간
@@ -382,6 +393,9 @@ namespace Project
                    return Lang.AGV연결실패;
                case eECode.PLCCONN:
                    return Lang.PLC통신실패;
+                case eECode.MESSAGE_ERROR:
+                    if (values.Length > 0) return values[0].ToString();
+                    return "Message Error";

                default:
                    return err.ToString();
@@ -582,7 +596,33 @@ namespace Project
        }

        #region VirtualAGV 실제 데이터 동기화
-
+        public static MapNode FindByNodeID(string nodeidx)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (nodeidx.isEmpty()) return null;
+            return _mapNodes.Where(t => t.NodeId.Equals(nodeidx)).FirstOrDefault();
+        }
+        public static MapNode FindByRFID(string rfidValue)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (rfidValue.isEmpty()) return null;
+            return _mapNodes.Where(t => t.RfidId.Equals(rfidValue)).FirstOrDefault();
+        }
+        public static List<MapNode> FindByNodeAlias(string alias)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            if (alias.isEmpty()) return null;
+            var lst = _mapNodes.Where(t => t.NodeAlias.Equals(alias));
+            if (lst.Any() == false) return null;
+            return lst.ToList();
+        }
+        public static List<MapNode> FindByNodeType(AGVNavigationCore.Models.MapNode type)
+        {
+            if (_mapNodes == null || _mapNodes.Any() == false) return null;
+            var lst = _mapNodes.Where(t => t.Type.Equals(type));
+            if (lst.Any() == false) return null;
+            return lst.ToList();
+        }
        /// <summary>
        /// RFID 읽기 시 해당 노드 위치로 AGV 업데이트
        /// </summary>
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN.cs
@@ -84,7 +84,7 @@ namespace Project
            if (PUB.AGV.system1.stop_by_front_detect == true)
            {
                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                {
                    PUB.Speak(Lang.전방에물체가감지되었습니다);
                    LastSpeakTime = DateTime.Now;
@@ -96,7 +96,7 @@ namespace Project
            if (PUB.AGV.error.runerror_by_no_magent_line == true)
            {
                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                {
                    PUB.Speak(Lang.선로를이탈했습니다);
                    LastSpeakTime = DateTime.Now;
@@ -105,45 +105,18 @@ namespace Project
            }

            //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
-            if (PUB._virtualAGV.CurrentNodeId.isEmpty())// .cur.    . CurrentPos == ePosition.NONE)
-            {
-                //이동중이지 않거나 홈이동상태가 아니라면?
-                if (PUB.AGV.system1.agv_run == false || PUB.sm.RunStep != ERunStep.GOHOME)
-                {
-                    //현재위치를 검색해야함
-                    PUB.sm.ClearRunStep();
-                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                    PUB.AddEEDB($"READY상태에서 현재위치를 몰라 홈으로 이동 백업스텝:{PUB.sm.RunStep}");
-                    PUB.sm.BackupRunStep.Push(PUB.sm.RunStep);  //현재 상태를 백업
-                    return;
-                }
-                VAR.STR[eVarString.ChargeCheckMsg] = "현재 위치 모름";
-            }
+            if (_SM_RUN_POSCHK(isFirst, stepTime) == false) return;

            //나머지 상황체크
            switch (PUB.sm.RunStep)
            {
                case ERunStep.GOHOME:
-                    if (runStepisFirst)
+                    if (_SM_RUN_GOHOME(runStepisFirst, PUB.sm.GetRunSteptime) == true)
                    {
-                        PUB.Speak(Lang.FindCurrentPisition);
-                    }
-                    else if (_SM_RUN_GOHOME(runStepisFirst, PUB.sm.GetRunSteptime))
-                    {
-                        //230601
-                        PUB.Speak(Lang.홈이동완료대기상태로전환합니다);
-                        VAR.TIME.Update(eVarTime.ChargeTry);
-
-                        ERunStep NextStep = ERunStep.READY;
-                        if (PUB.sm.BackupRunStep.Count > 0)
-                            NextStep = PUB.sm.BackupRunStep.Pop();
-
-                        PUB.log.Add($"현재위치 검색완료로 {NextStep} 으로 RUNSTEP값을 변경 합니다");
-                        PUB.sm.SetNewRunStep(NextStep); //대기상태로 전환한다
-                        return;
+                        PUB.log.Add($"홈 이동이 완료되어 준비상태로 전환합니다");
+                        PUB.sm.SetNewRunStep(ERunStep.READY);
                    }
                    break;
-
                case ERunStep.GOTO: //목적지까지 이동하는 경우
                    if (_SM_RUN_GOTO(runStepisFirst, PUB.sm.GetRunSteptime) == true)
                    {
@@ -152,27 +125,27 @@ namespace Project
                        PUB.log.Add($"목적지({target.RfidId}) 도착완료 타입:{target.Type}, 출발지:{PUB._virtualAGV.StartNode.RfidId}");
                        if (target.Type == AGVNavigationCore.Models.NodeType.Buffer)
                        {
-                            
+
                            //현재위치가 마지막경로의 NODEID와 일치해야한다
                            var lastPath = PUB._virtualAGV.CurrentPath.DetailedPath.LastOrDefault();
-                            if(lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNodeId))
+                            if (lastPath.NodeId.Equals(PUB._virtualAGV.CurrentNodeId))
                            {
                                //버퍼진입전 노드에 도착완료했따
                                PUB.XBE.BufferInReady = true;
-                                PUB.XBE.BufferReadyError = false;                                
+                                PUB.XBE.BufferReadyError = false;
                            }
                            else
                            {
                                //마지막위치가 아닌 다른 위치에 있으니 버퍼 작업을 할 수없다
                                PUB.log.AddAT("목적지 버퍼이동완료 했지만 마지막 노드가 아닙니다");
                                PUB.XBE.BufferInReady = false;
-                                PUB.XBE.BufferReadyError = true;                                
+                                PUB.XBE.BufferReadyError = true;
                            }
                            PUB.XBE.BufferInComplete = false;
                            PUB.XBE.BufferOutComplete = false;
                        }
-                        
-                        else if(target.Type == AGVNavigationCore.Models.NodeType.Charging)
+
+                        else if (target.Type == AGVNavigationCore.Models.NodeType.Charging)
                        {

                        }
@@ -191,7 +164,7 @@ namespace Project
                        else
                        {
                            //목적지다 다른 형태이다
-                            
+
                        }
                        PUB._virtualAGV.Turn = AGVNavigationCore.Models.AGVTurn.None;
                        PUB.sm.SetNewRunStep(ERunStep.READY);
@@ -271,8 +244,8 @@ namespace Project
                                PUB.Result.TargetPos = ePosition.QC;
                            }
                            PUB.Result.CurrentPosCW = "1";
-                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
-                            PUB.log.AddAT("충전 해제로 홈으로 이동");
+                            PUB.sm.SetNewRunStep(ERunStep.READY);
+                            PUB.log.AddAT("충전 해제로 대기상태로 전환 합니다");
                        }
                    }
                    break;
@@ -313,342 +286,5 @@ namespace Project

        }

-        bool CheckStopCondition()
-        {
-            return true;
-        }
-
-
-        void CheckAGVMoveTo(eGoDir dir)
-        {
-            //계속내려간다
-            if (dir == eGoDir.Down)
-            {
-                var tsCmd = DateTime.Now - LastCommandTime;
-                if (tsCmd.TotalMilliseconds >= 1999)
-                {
-                    //현재 동작중인상태에서 방향이 맞지 않다면 일단 움직임을 멈춘다
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        if (PUB.AGV.data.Direction == 'B')
-                        {
-                            PUB.log.Add($"방향이 맞지 않아 정지 합니다({dir})");
-                            PUB.AGV.AGVMoveStop("CheckAGVMoveTo");
-                        }
-                        else if (PUB.AGV.data.Speed == 'S')
-                        {
-                            PUB.log.Add($"마크정지를 해제하기 위해 장비를 멈춥니다");
-                        }
-                    }
-                    else
-                    {
-                        //움직이지 않으므로 전진하도록 한다
-                        PUB.log.Add($"AGV 기동 방향(DOWN):{dir}");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                    }
-                    LastCommandTime = DateTime.Now;
-                }
-            }
-            else
-            {
-                var tsCmd = DateTime.Now - LastCommandTime;
-                if (tsCmd.TotalMilliseconds >= 1999)
-                {
-                    if (PUB.AGV.system1.agv_run)
-                    {
-                        if (PUB.AGV.data.Direction == 'F')
-                        {
-                            PUB.log.Add($"방향이 맞지 않아 정지 합니다({dir})");
-                            PUB.AGV.AGVMoveStop("CheckAGVMoveTo");
-                        }
-                        else if (PUB.AGV.data.Speed == 'S')
-                        {
-                            PUB.log.Add($"마크정지를 해제하기 위해 장비를 멈춥니다");
-                        }
-                    }
-                    else
-                    {
-                        PUB.log.Add($"AGV 기동 방향(UP):{dir}");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                    }
-                    LastCommandTime = DateTime.Now;
-                }
-            }
-        }
-
-        void CheckAGVStopbyMARK(string sender)
-        {
-            //계속내려간다
-            var tsCmd = DateTime.Now - LastCommandTime;
-            if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false || tsCmd.TotalMilliseconds >= 1500)
-            {
-                PUB.AGV.AGVMoveStop("CheckAGVStopbyMARK", arDev.Narumi.eStopOpt.MarkStop);
-                LastCommandTime = DateTime.Now;
-                PUB.log.Add($"[{sender}] MARK신호에 멈춤 설정");
-            }
-        }
-
-        Boolean UpdateMotionPositionForMark(string sender)
-        {
-            //이머전시상태에서는 처리하지 않는다.
-            if (VAR.BOOL[eVarBool.EMERGENCY]) return false;
-
-            //DOWN 작업
-            // if (goDIR == eGoDir.Down)
-            {
-                //1. 현재위치 > 대상위치
-                if (PUB.Result.CurrentPos > PUB.Result.TargetPos)
-                {
-                    //계속내려간다
-                    if (PUB.setting.AGV_Direction_FVI_Backward)
-                        CheckAGVMoveTo(eGoDir.Down);
-                    else
-                        CheckAGVMoveTo(eGoDir.Up);
-                }
-                //2. 현재위치 < 대상위치
-                else if (PUB.Result.CurrentPos < PUB.Result.TargetPos)
-                {
-                    //올라가야한다
-                    if (PUB.setting.AGV_Direction_FVI_Backward)
-                        CheckAGVMoveTo(eGoDir.Up);
-                    else
-                        CheckAGVMoveTo(eGoDir.Down);
-                }
-                //3. 현재위치 = 대상위치
-                else
-                {
-                    //현재위치가 확정되었는가?
-                    var actpos = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
-                    if (actpos == false && PUB.AGV.system1.agv_stop == true)
-                    {
-                        //위치확정이되지 않았다면 AGV멈춤시에 기동하게 한다.
-                        var lastcom = DateTime.Now - LastCommandTime;
-                        if (lastcom.TotalSeconds > 3)
-                        {
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                            }
-
-                            else
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                            }
-
-
-                            LastCommandTime = DateTime.Now;
-                            PUB.logagv.Add($"AGV가 멈춰있다 동작을 재개 합니다");
-                        }
-                    }
-                    else
-                    {
-                        //마크센서가 들어와잇고, 위치가 act 되어있다면 해당 위치에 있는 것이다
-                        if (PUB.AGV.error.Emergency == false &&
-                            PUB.AGV.system1.agv_stop &&
-                            PUB.AGV.signal.mark_sensor && actpos &&
-                           PUB.Result.CurrentPos == PUB.Result.TargetPos)
-                        {
-                            //PUB.AGV.AGVMoveStop();
-                            return true;
-                        }
-
-                        if (PUB.AGV.system1.agv_stop == true && PUB.AGV.system1.agv_run == false)
-                        {
-                            PUB.log.Add($"멈춰있으므로 이동을 시작 합니다");
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                            }
-                            else
-                            {
-                                if (PUB.setting.AGV_Direction_FVI_Backward)
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);
-                                else
-                                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);
-                            }
-
-                        }
-
-                        //AGV는 아래로 FVI방향으로 내려가고 있다
-                        if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)
-                        {
-                            if (PUB.Result.CurrentPosCW == "0")
-                            {
-                                //장비가 마크센서에의해 멈췃다면 완료이다
-                                if (PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-                                {
-                                    PUB.AGV.AGVMoveStop("UPdateMotionPositionForMark");
-                                    return true;
-                                }
-                                else CheckAGVStopbyMARK(sender);
-                            }
-                            else if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-                                CheckAGVMoveTo(eGoDir.Up);
-                            }
-                            else
-                            {
-                                PUB.Result.CurrentPosCW = "1";
-                                CheckAGVMoveTo(eGoDir.Up);
-                            }
-                        }
-                        //AGV는 Qc방향으로 올라가고 있다
-                        else
-                        {
-                            if (PUB.Result.CurrentPosCW == "1")
-                            {
-                                //네려가는 방향에서 내려가는 위치가 인식되었다면 마크에서 멈춰야 한다
-                                if (PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-                                {
-                                    PUB.AGV.AGVMoveStop("UPdateMotionPositionForMark");
-                                    return true;
-                                }
-                                else CheckAGVStopbyMARK(sender);
-                            }
-                            else if (PUB.Result.CurrentPosCW == "0")
-                            {
-                                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-                                CheckAGVMoveTo(eGoDir.Down);
-                            }
-                            else
-                            {
-                                PUB.Result.CurrentPosCW = "0";
-                                CheckAGVMoveTo(eGoDir.Down);
-                            }
-                        }
-                    }
-
-
-                }
-            }
-            //UP 작업
-            //else
-            //{
-            //    //1. 현재위치 > 대상위치
-            //    if (PUB.Result.CurrentPos > PUB.Result.TargetPos)
-            //    {
-            //        //계속내려간다
-            //        CheckAGVMoveTo(eGoDir.Down);
-            //    }
-            //    //2. 현재위치 < 대상위치
-            //    else if (PUB.Result.CurrentPos < PUB.Result.TargetPos)
-            //    {
-            //        //올라가야한다
-            //        CheckAGVMoveTo(eGoDir.Up);
-            //    }
-            //    //3. 현재위치 = 대상위치
-            //    else
-            //    {
-            //        //AGV는 위로가고 있다
-            //        if (VAR.BOOL[eVarBool.AGVDIR_UP] == true)
-            //        {
-            //            if (PUB.Result.CurrentPosCW == "0")
-            //            {
-            //                //장비가 마크센서에의해 멈췃다면 완료이다
-            //                if (PUB.AGV.system1.agv_stop && PUB.AGV.system1.stop_by_front_detect == false && PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-            //                {
-            //                    return true;
-            //                }
-            //                else CheckAGVStopbyMARK();
-            //            }
-            //            else if (PUB.Result.CurrentPosCW == "1")
-            //            {
-            //                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-            //                CheckAGVMoveTo(eGoDir.Down);
-            //            }
-            //        }
-            //        //AGV는 내려가고 있다
-            //        else if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)
-            //        {
-            //            if (PUB.Result.CurrentPosCW == "1")
-            //            {
-            //                //네려가는 방향에서 내려가는 위치가 인식되었다면 마크에서 멈춰야 한다
-            //                if (PUB.AGV.system1.agv_stop && PUB.AGV.system1.stop_by_front_detect == false && PUB.AGV.error.Emergency == false && PUB.AGV.signal.mark_sensor)
-            //                {
-            //                    return true;
-            //                }
-            //                else CheckAGVStopbyMARK();
-            //            }
-            //            else if (PUB.Result.CurrentPosCW == "0")
-            //            {
-            //                //내려가는 작업이고  AGV는 올라가고 있는데 RFID는 위졲이 감지되었다면 아래로 내려가야한다
-            //                CheckAGVMoveTo(eGoDir.Up);
-            //            }
-            //        }
-            //    }
-            //}
-
-
-
-
-
-
-            return false;
-        }
-        Boolean UpdateMotionPositionForCharger(string sender)
-        {
-            if (VAR.BOOL[eVarBool.AGVDIR_UP] == false)// PUB.flag.get(EFlag.FLAG_DIR_BW) == true)
-            {
-                //충전기 검색은 항상 뒤로 검색한다
-                var tsCmd = DateTime.Now - tm_gocharge_command;
-                if (tsCmd.TotalMilliseconds >= 1999 &&
-                    PUB.AGV.error.Emergency == false &&
-                    PUB.AGV.system1.agv_run == false)
-                {
-                    //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition(" + sender + ")");
-                    PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                    tm_gocharge_command = DateTime.Now;
-                }
-            }
-            else
-            {
-                //CCW (역방향 )
-                //if (Pub.Result.RFIDPos < ePosition.CHARGE || Pub.Result.RFIDPos > ePosition.QC)
-                //{
-                //    //정상적이라면 RFID값은 QC + 혹은  QC - 에 있어야 하므로 항상 차저보다 높이 있다
-                //    //그렇지 않다면 초기화해서 QC검색부터 다시 실행하게 한다
-                //    //여기는 비정상 위치 값이다.
-                //    Pub.sm.SetStepSeq(1);
-                //}
-                //else 
-                //{
-                //현재위치가 충전위치이고, 움직이지 않았다면 완료된 경우라 할수 있따
-                if (PUB.Result.CurrentPos == ePosition.CHARGE &&
-                      PUB.AGV.signal.mark_sensor == true)
-                {
-                    PUB.log.AddI("충전위치 검색 완료");
-                    return true;
-                }
-                else
-                {
-                    //이동중이지 않다면 항상 이동을 해줘야한다
-                    var tsCmd = DateTime.Now - LastCommandTime;
-                    if (tsCmd.TotalMilliseconds >= 1999 &&
-                        PUB.AGV.error.Emergency == false &&
-                        PUB.AGV.system1.agv_run == false)
-                    {
-                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
-                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-                //}
-            }
-
-            return false;
-        }
-
-
-
    }//cvass
 }
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
@@ -45,7 +45,7 @@ namespace Project
            if (PUB.AGV.system1.stop_by_front_detect == true)
            {
                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                {
                    PUB.Speak(Lang.전방에물체가감지되었습니다);
                    LastSpeakTime = DateTime.Now;
@@ -214,7 +214,7 @@ namespace Project
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //마크스탑신호가 3초이내로 들어와야 한다
-                if (PUB.AGV.signal.mark_sensor == false)
+                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK] == false)
                {
                    var ts = VAR.TIME.RUN(eVarTime.LastTurnCommandTime);
                    if (ts.TotalSeconds > 3)
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
@@ -34,7 +34,7 @@ namespace Project
            if (PUB.AGV.system1.stop_by_front_detect == true)
            {
                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                {
                    PUB.Speak(Lang.전방에물체가감지되었습니다);
                    LastSpeakTime = DateTime.Now;
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_CHGOFF.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_CHGOFF.cs
@@ -14,6 +14,8 @@ namespace Project

        public Boolean _SM_RUN_CHGOFF(bool isFirst, TimeSpan stepTime)
        {
+          
+
            //충전중인지 확인한다.
            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true || PUB.AGV.system1.Battery_charging == true)
            {
@@ -25,7 +27,7 @@ namespace Project
                        PUB.Speak(Lang.충전을해제합니다);
                    }
                }
-
+                
                //AGV는 충전을 해제한 상태이다
                if (PUB.AGV.system1.Battery_charging == false)
                {
@@ -47,6 +49,17 @@ namespace Project
                        PUB.AGV.AGVCharge(PUB.setting.ChargerID, false);
                        VAR.TIME.Update(eVarTime.SendChargeOff);
                    }
+
+
+                    // 1분 타임아웃 체크
+                    if (stepTime.TotalMinutes >= 1)
+                    {
+                        PUB.XBE.errorMessage = $"충전해제가 실패되었습니다(1분)";
+                        PUB.log.AddE(PUB.XBE.errorMessage);
+                        PUB.sm.SetNewStep(eSMStep.IDLE);
+                        return false;
+                    }
+
                }
                return false;
            }
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOCHARGE.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOCHARGE.cs
@@ -38,7 +38,7 @@ namespace Project
            if (PUB.AGV.system1.stop_by_front_detect == true)
            {
                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                {
                    PUB.Speak(Lang.전방에물체가감지되었습니다);
                    LastSpeakTime = DateTime.Now;
@@ -63,8 +63,16 @@ namespace Project
            var idx = 1;
            if (PUB.sm.RunStepSeq == idx++)
            {
-                PUB.Speak(Lang.충전을위해홈위치로이동합니다);
-                PUB.Result.TargetPos = ePosition.QC;
+                var targetnode = PUB.FindByRFID(PUB.setting.NodeMAP_RFID_Charger);
+                if(targetnode == null)
+                {
+                    PUB.log.AddE($"충전기 노드가 설정되지 않았습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+
+                //충전기로 대상을 설정한다
+                PUB._virtualAGV.TargetNode = targetnode;
                VAR.TIME.Update(eVarTime.ChargeSearch);
                PUB.sm.UpdateRunStepSeq();
                PUB.log.Add($"충전:대상위치 QC 시작");
@@ -73,7 +81,7 @@ namespace Project
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOCHARGE #1") == true)
+                if ( UpdateMotionPositionForCharger("GOCHARGE #1") == true)
                {
                    PUB.log.Add($"충전:충전기 검색 전 QC위치 확인 완료");
                    PUB.sm.UpdateRunStepSeq();
@@ -200,9 +208,6 @@ namespace Project
                PUB.Result.CurrentPos = ePosition.CHARGE; //현재위치를 충전기로 한다
                PUB.Result.TargetPos = ePosition.CHARGE;
                PUB.Result.CurrentPosCW = "1";
-                ctlPos1.SetPosition(ePosition.CHARGE);
-                ctlPos1.SetPositionActive(ePosition.CHARGE);
-                ctlPos1.Invalidate();
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOHOME.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GOHOME.cs
@@ -13,27 +13,18 @@ namespace Project
    {
        public Boolean _SM_RUN_GOHOME(bool isFirst, TimeSpan stepTime)
        {
+            var funcName = "_SM_RUN_GOHOME";
            if (runStepisFirst)
            {
-                //  PUB.flag.set(EFlag.FLAG_NEXTSTOP_ALIGN, false);
-
-                //VAR.BOOL[eVarBool.FLAG_NEXTSTOP_MARK] = false;//);
                VAR.BOOL[eVarBool.FLAG_NEXTSTOP_ALIGN] = false;//);
            }

-            //220629
-            //         if(PUB.flag.get(EFlag.FLAG_GO_CHAGER_TEMP))
-            //{
-            //             PUB.flag.set(EFlag.FLAG_GO_CHAGER_TEMP, false);
-            //}
-
            //HW 연결오류
            if (PUB.AGV.IsOpen == false)
            {
                PUB.Result.SetResultMessage(eResult.Hardware, eECode.AGVCONN, eNextStep.ERROR);
                return false;
            }
-          

            //충전 상태가 OFF되어야 동작하게한다
            if (_SM_RUN_CHGOFF(isFirst, stepTime) == false)
@@ -43,7 +34,7 @@ namespace Project
            if (PUB.AGV.system1.stop_by_front_detect == true)
            {
                var tsSpeak = DateTime.Now - LastSpeakTime;
-                if (tsSpeak.TotalSeconds >= PUB.setting.doorSoundTerm)
+                if (tsSpeak.TotalSeconds >= PUB.setting.alarmSoundTerm)
                {
                    PUB.Speak(Lang.전방에물체가감지되었습니다);
                    LastSpeakTime = DateTime.Now;
@@ -51,27 +42,29 @@ namespace Project
                return false;
            }

-            //현재 위치가 결정되어있는지 체크한다
-            if (_SM_RUN_POSCHK(isFirst, stepTime) == false)
-                return false;
-
            var idx = 1;
            if (PUB.sm.RunStepSeq == idx++)
            {
                PUB.Speak(Lang.홈으로이동합니다);

-                //홈은 무조건 QC위치로 간다
-                PUB.AddEEDB($"홈검색시작({PUB.Result.TargetPos})");
-                PUB.Result.TargetPos = ePosition.QC;
+                var homenode = PUB.FindByRFID(PUB.setting.NodeMAP_RFID_Home);
+                if (homenode == null)
+                {
+                    PUB.log.Add($"홈위치의 노드맵핑(환경설정)이 없습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+                PUB._virtualAGV.TargetNode = homenode;
+                PUB.AddEEDB($"홈검색시작({homenode.RfidId})");
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //모션 전후진 제어
-                if (UpdateMotionPositionForMark("GOHOME"))
+                if (UpdateMotionPositionForMark(funcName))
                {
-                    PUB.AGV.AGVMoveStop("SM_RUN_GOHOME");
+                    PUB.AGV.AGVMoveStop(funcName);
                    PUB.sm.UpdateRunStepSeq();
                }
                return false;
@@ -79,7 +72,7 @@ namespace Project
            else if (PUB.sm.RunStepSeq == idx++)
            {
                //QC까지 모두 완료되었다.(완전히 정차할때까지 기다린다)
-                PUB.Speak(Lang.홈검색완료, true);  
+                PUB.Speak(Lang.홈검색완료, true);
                PUB.AddEEDB($"홈검색완료({PUB.Result.TargetPos})");
                PUB.sm.UpdateRunStepSeq();
                return false;
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_POSCHK.cs
@@ -3,6 +3,8 @@ using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
 using System.Text;
+using AR;
+using COMM;

 namespace Project
 {
@@ -10,45 +12,30 @@ namespace Project
    {
        public Boolean _SM_RUN_POSCHK(bool isFirst, TimeSpan stepTime)
        {
-            //현재 위치가 찾아지지 않았다면. 먼저 위치를 찾는다. 위로 이동시켜서 찾는다.
-            if (PUB.Result.CurrentPos == ePosition.NONE)
+            //현재위치가 설정되어있는지 확인한다, 현재위치값이 있는 경우 True 를 반환
+            var currentnode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+            if (currentnode != null) return true;
+
+            //이동을 하지 않고있다면 전진을 진행한다
+            if (PUB.AGV.system1.agv_run == false)
            {
-                if (isFirst)
+                var ts = VAR.TIME.RUN(eVarTime.LastRunCommandTime);
+                if (ts.TotalSeconds > 5)
                {
-                    PUB.Speak( Lang.현재위치를검색합니다);
-                }
-
-                if (PUB.AGV.system1.agv_run)
-                {
-                    //방향을 체크한다
-                    var basedir = PUB.setting.AGV_Direction_FVI_Backward ? 'F' : 'B';
-                    if (PUB.AGV.data.Direction == basedir)
+                    PUB.log.Add($"현재위치를 몰라 전진 이동 합니다");
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
                    {
-                        var ts = DateTime.Now - LastCommandTime;
-                        if (ts.TotalMilliseconds >= 1999)
-                        {
-                            PUB.AGV.AGVMoveStop("SM_RUN_POSCHK",arDev.Narumi.eStopOpt.Stop);
-                            LastCommandTime = DateTime.Now;
-                        }
-                    }
+                        Bunki = arDev.Narumi.eBunki.Strate,
+                        Direction = arDev.Narumi.eMoveDir.Forward,
+                        PBSSensor = 1,
+                        Speed = arDev.Narumi.eMoveSpd.Low,
+                    });
+                    PUB.AGV.AGVMoveRun();
+                    VAR.TIME.Update(eVarTime.LastRunCommandTime);
                }
-                else if (PUB.AGV.system1.agv_run == false)
-                {
-                    //전진이동한다
-                    var ts = DateTime.Now - LastCommandTime;
-                    if (ts.TotalMilliseconds >= 1999)
-                    {
-                        if (PUB.setting.AGV_Direction_FVI_Backward)
-                            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
-                        else
-                            PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Forward);//
-                        LastCommandTime = DateTime.Now;
-                    }
-                }
-
-                return false;
            }
-            else return true;
+            VAR.STR[eVarString.StatusMessage] = "현재 위치를 알 수 없습니다";
+            return false;
        }
    }
 }
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_RESET.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_RESET.cs
@@ -83,11 +83,6 @@ namespace Project
                PUB.Result.TargetPos = ePosition.NONE;
                PUB.Result.CurrentPos = ePosition.NONE;
                PUB.Result.CurrentPosCW = "0";
-                ctlPos1.SetPositionDeActive();
-                ctlPos1.SetPosition(ePosition.NONE);
-                ctlPos1.SetDirection("0");
-                ctlPos1.Invalidate();
-
                PUB.sm.UpdateRunStepSeq();
                return false;
            }
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_SYNC.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_SYNC.cs
@@ -80,7 +80,7 @@ namespace Project
                //synlist.Add("SBN", PUB.setting.ChargerID.ToString("0000"));

                synlist.Add("SGS", PUB.setting.GDSValue.ToString("0000"));
-
+                VAR.I32[eVarInt32.SyncItemCount] = synlist.Count;
                

                PUB.AddEEDB($"SYNC시작({PUB.Result.TargetPos})");
@@ -101,7 +101,7 @@ namespace Project
            }
            else if (PUB.sm.RunStepSeq == idx++)
            {
-                //통신 확인되었으므로 스피드를 전송한다.
+                //통신 확인되었으므로 설정값들을 
                if (synidx < synlist.Count)
                {
                    var item = synlist.ElementAt(synidx);
@@ -111,7 +111,7 @@ namespace Project
                    // 캔버스에 동기화 상태 표시
                    if (PUB._mapCanvas != null)
                    {
-                        float progress = (float)synidx / synlist.Count;
+                        float progress = (float)synidx / VAR.I32[eVarInt32.SyncItemCount];
                        PUB._mapCanvas.SetSyncStatus("장비 설정 동기화 중...", progress, $"항목: {item.Key} ({synidx + 1}/{synlist.Count})");
                    }
                }
--- a/Cs_HMI/Project/StateMachine/Step/_Util.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_Util.cs
@@ -0,0 +1,228 @@
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using Project.StateMachine;
+using COMM;
+using AR;
+
+namespace Project
+{
+    public partial class fMain
+    {
+
+        bool CheckStopCondition()
+        {
+            return true;
+        }
+
+        /// <summary>
+        /// 설정된 목적지까지 이동을 완료 한 후 True를 반환합니다.
+        /// 목적지 : PUB._virtualAGV.TargetNode
+        /// 
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <returns></returns>
+        Boolean UpdateMotionPositionForMark(string sender)
+        {
+            //현재위치를 모르는 상태라면 이동하여 현재 위치를 찾는다
+            if (_SM_RUN_POSCHK(false, new TimeSpan()) == false) return false;
+
+            //현재위치노드 오류
+            var currentNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+            if (currentNode == null)
+            {
+                PUB.log.AddE($"현재위치노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //시작노드값이 없다면 현재위치를 노드로 결정한다
+            if (PUB._virtualAGV.StartNode == null)
+                PUB._virtualAGV.StartNode = PUB.FindByNodeID(PUB._virtualAGV.CurrentNodeId);
+
+            //시작노드가없다면 오류
+            if (PUB._virtualAGV.StartNode == null)
+            {
+                PUB.log.AddE($"경로시작노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //대상노드가 없다면 오류
+            if (PUB._virtualAGV.TargetNode == null)
+            {
+                PUB.log.AddE($"경로종료노드가 없습니다");
+                PUB.sm.SetNewRunStep(ERunStep.READY);
+                return false;
+            }
+
+            //경로 생성(경로정보가 없거나 현재노드가 경로에 없는경우)
+            if (PUB._virtualAGV.CurrentPath == null ||
+                PUB._virtualAGV.CurrentPath.DetailedPath.Any() == false ||
+                PUB._virtualAGV.CurrentPath.DetailedPath.Where(t => t.NodeId.Equals(currentNode.NodeId)).Any() == false)
+            {
+                if (PUB.AGV.system1.agv_run)
+                {
+                    PUB.log.Add($"경로 재생성으로 인해 구동을 멈춥니다");
+                    PUB.AGV.AGVMoveStop("경로재생성");
+                }
+
+                var PathResult = CalcPath(PUB._virtualAGV.StartNode, PUB._virtualAGV.TargetNode);
+                if (PathResult.result == null)
+                {
+                    PUB.log.AddE($"경로가 계산되지 않았습니다");
+                    PUB.sm.SetNewRunStep(ERunStep.READY);
+                    return false;
+                }
+
+                PUB.log.AddI($"경로생성 {PUB._virtualAGV.StartNode.RfidId} -> {PUB._virtualAGV.TargetNode.RfidId}");
+            }
+
+            //predict 를 이용하여 다음 이동을 모두 확인한다.
+            var nextAction = PUB._virtualAGV.Predict();
+
+            var message = $"[다음 행동 예측]\n\n" +
+                         $"모터: {nextAction.Motor}\n" +
+                         $"마그넷: {nextAction.Magnet}\n" +
+                         $"속도: {nextAction.Speed}\n" +
+                         $"이유: {nextAction.Message}\n\n" +
+                         $"---\n" +
+                         $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
+                         $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
+                         $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
+                         $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+
+            //모터에서 정지를 요청했다
+            if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Stop)
+            {
+                if (PUB.AGV.system1.agv_run)
+                {
+                    // 완료(Complete) 상태라면 MarkStop 전송
+                    if (nextAction.Reason == AGVNavigationCore.Models.eAGVCommandReason.MarkStop)
+                    {
+                        PUB.log.Add("다음행동예측에서 MARK STOP이 확인되었습니다");
+                        PUB.AGV.AGVMoveStop(nextAction.Message, arDev.Narumi.eStopOpt.MarkStop);
+                    }
+                    else
+                    {
+                        PUB.log.Add("다음행동예측에서 장비 멈춤이 확인되었습니다");
+                        PUB.AGV.AGVMoveStop(nextAction.Message);
+                    }
+                }
+
+                // 목적지 도착 여부 확인
+                // 현재 노드가 타겟 노드와 같고, 위치가 확정된 상태라면 도착으로 간주
+                // 단, AGV가 실제로 멈췄는지 확인 (agv_run == false)
+                if (PUB._virtualAGV.IsPositionConfirmed &&
+                    PUB._virtualAGV.CurrentNodeId == PUB._virtualAGV.TargetNode.NodeId)
+                {
+                    if (PUB.AGV.system1.agv_run == false)
+                    {
+                        return true;
+                    }
+                }
+
+                return false;
+            }
+            else
+            {
+                // 이동 명령 변환 (AGVNavigationCore -> arDev.Narumi)
+                var bunki = arDev.Narumi.eBunki.Strate;
+                if (nextAction.Magnet == AGVNavigationCore.Models.MagnetPosition.L) bunki = arDev.Narumi.eBunki.Left;
+                else if (nextAction.Magnet == AGVNavigationCore.Models.MagnetPosition.R) bunki = arDev.Narumi.eBunki.Right;
+
+                var dir = arDev.Narumi.eMoveDir.Forward;
+                if (nextAction.Motor == AGVNavigationCore.Models.MotorCommand.Backward) dir = arDev.Narumi.eMoveDir.Backward;
+
+                var spd = arDev.Narumi.eMoveSpd.Low;
+                if (nextAction.Speed == AGVNavigationCore.Models.SpeedLevel.M) spd = arDev.Narumi.eMoveSpd.Mid;
+                else if (nextAction.Speed == AGVNavigationCore.Models.SpeedLevel.H) spd = arDev.Narumi.eMoveSpd.High;
+
+                // 명령 설정
+                // 현재 상태와 다를 때만 전송 (불필요한 통신 부하 방지)
+                if (PUB.AGV.data.Sts != bunki.ToString()[0] ||
+                    PUB.AGV.data.Direction != dir.ToString()[0] ||
+                    PUB.AGV.data.Speed != spd.ToString()[0])
+                {
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    {
+                        Bunki = bunki,
+                        Direction = dir,
+                        PBSSensor = 1,
+                        Speed = spd,
+                    });
+                    PUB.log.Add($"Predict Run Setting = bunki:{bunki},dir:{dir},pbs:1,spd:{spd}");
+                }
+
+                // AGV가 정지 상태라면 구동 시작
+                if (PUB.AGV.system1.agv_run == false)
+                {
+                    var runOpt = (dir == arDev.Narumi.eMoveDir.Forward) ? arDev.Narumi.eRunOpt.Forward : arDev.Narumi.eRunOpt.Backward;
+                    PUB.AGV.AGVMoveRun(runOpt);
+                }
+
+                return false;
+            }
+
+        }
+
+        /// <summary>
+        /// 충전기검색시퀀스
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <returns></returns>
+        Boolean UpdateMotionPositionForCharger(string sender)
+        {
+            if (VAR.BOOL[eVarBool.AGVDIR_BACK] == false)// PUB.flag.get(EFlag.FLAG_DIR_BW) == true)
+            {
+                //충전기 검색은 항상 앞으로 검색한다
+                var tsCmd = DateTime.Now - tm_gocharge_command;
+                if (tsCmd.TotalMilliseconds >= 1999 &&
+                    PUB.AGV.error.Emergency == false &&
+                    PUB.AGV.system1.agv_run == false)
+                {
+                    PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                    {
+                        Bunki = arDev.Narumi.eBunki.Strate,
+                        Direction = arDev.Narumi.eMoveDir.Forward,
+                        PBSSensor = 1,
+                        Speed = arDev.Narumi.eMoveSpd.Low,
+                    });
+                    PUB.AGV.AGVMoveRun();//
+                    tm_gocharge_command = DateTime.Now;
+                }
+            }
+            else
+            {
+                //현재위치가 충전위치이고, 움직이지 않았다면 완료된 경우라 할수 있따
+                if (PUB._virtualAGV.CurrentNodeId.Equals(PUB.setting.NodeMAP_RFID_Charger) &&
+                      VAR.BOOL[eVarBool.MARK_SENSOR] == true)
+                {
+                    PUB.log.AddI("충전위치 검색 완료");
+                    return true;
+                }
+                else
+                {
+                    //이동중이지 않다면 항상 이동을 해줘야한다
+                    var tsCmd = DateTime.Now - LastCommandTime;
+                    if (tsCmd.TotalMilliseconds >= 1999 &&
+                        PUB.AGV.error.Emergency == false &&
+                        PUB.AGV.system1.agv_run == false)
+                    {
+                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
+                        PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
+                        LastCommandTime = DateTime.Now;
+                    }
+                }
+                //}
+            }
+
+            return false;
+        }
+
+
+
+    }//cvass
+}
--- a/Cs_HMI/Project/StateMachine/_AGV.cs
+++ b/Cs_HMI/Project/StateMachine/_AGV.cs
@@ -49,82 +49,48 @@ namespace Project
                    case arDev.Narumi.DataType.STS:
                        {
                            //마크센서 확인
-                            var chg_mark1 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
-                            var chg_mark2 = PUB.AGV.signal.GetChanged(arDev.Narumi.Signal.eflag.mark_sensor_1);
-                            var chg_run = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_run);
-                            var chg_stop = PUB.AGV.system1.GetChanged(arDev.Narumi.SystemFlag1.eflag.agv_stop);
+                            var agv_err = PUB.AGV.error.Value;
+                            var agv_emg = PUB.AGV.error.Emergency;
+                            var agv_chg = PUB.AGV.system1.Battery_charging;
+                            var agv_stp = PUB.AGV.system1.agv_stop;
+                            var agv_run = PUB.AGV.system1.agv_run;
+                            var agv_mrk = PUB.AGV.signal.mark_sensor;
+
+
                            //if (chg_run && PUB.AGV.system1.agv_run) PUB.Speak("이동을 시작 합니다");
-                            VAR.BOOL[eVarBool.AGVDIR_UP] = PUB.AGV.data.Direction == 'B';
-                            VAR.BOOL[eVarBool.AGV_ERROR] = PUB.AGV.error.Value > 0;
-                            VAR.BOOL[eVarBool.EMERGENCY] = PUB.AGV.error.Emergency;
+                            VAR.BOOL[eVarBool.AGVDIR_BACK] = PUB.AGV.data.Direction == 'B';

-                            ////모터방향 입력
-                            //if (PUB.AGV.data.Direction == 'B')
-                            //    PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Backward;
-                            //else
-                            //    PUB.mapctl.Manager.agv.Current_Motor_Direction = AGVControl.AgvDir.Forward;
-
-                            ////현재 속도
-                            //if (PUB.AGV.data.Speed == 'H')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.High;
-                            //else if (PUB.AGV.data.Speed == 'M')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Middle;
-                            //else if (PUB.AGV.data.Speed == 'L')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.Low;
-                            //else if (PUB.AGV.data.Speed == 'S')
-                            //    PUB.mapctl.Manager.agv.CurrentSpeed = AGVControl.AgvSpeed.MarkStop;
-
-                            ////이동방향
-                            //if (PUB.AGV.data.Sts == 'S')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Straight;
-                            //else if (PUB.AGV.data.Sts == 'L')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Left;
-                            //else if (PUB.AGV.data.Sts == 'R')
-                            //    PUB.mapctl.Manager.agv.CurrentSTS = AGVControl.AgvSts.Right;
-
-
-                            //PUB.mapctl.Manager.agv.IsMoving = PUB.AGV.system1.agv_run;
-                            //PUB.mapctl.Manager.agv.IsMarkCheck = PUB.AGV.system1.Mark1_check || PUB.AGV.system1.Mark2_check;
-
-                            if (PUB.AGV.signal.mark_sensor == false)
+                            if (VAR.BOOL[eVarBool.AGV_ERROR] != (agv_err > 0))
                            {
-                                if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == false)
-                                {
-                                    VAR.BOOL[eVarBool.MARK_SENSOROFF] = true;
-                                    VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
-                                    PUB.log.Add($"마크센서off를 설정");
-                                }
+                                VAR.BOOL[eVarBool.AGV_ERROR] = (agv_err > 0);
+                                PUB.logagv.Add($"new AGV_ERROR ({PUB.AGV.error.Value})");
                            }
-                            else
+                            if (VAR.BOOL[eVarBool.EMERGENCY] != agv_emg)
                            {
-                                if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true)
-                                {
-                                    VAR.BOOL[eVarBool.MARK_SENSOROFF] = false;
-                                    VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
-                                    PUB.log.Add($"마크센서off를 해제");
-                                }
+                                VAR.BOOL[eVarBool.EMERGENCY] = agv_emg;
+                                PUB.logagv.Add($"new EMERGENCY ({VAR.BOOL[eVarBool.EMERGENCY]})");
                            }


                            //차징상태변경
-                            if (_charging != PUB.AGV.system1.Battery_charging)
+                            if (_charging != agv_chg)
                            {
-                                if (PUB.AGV.system1.Battery_charging)
+                                if (agv_chg)
                                {
                                    VAR.TIME[eVarTime.ChargeStart] = DateTime.Now;
                                    PUB.logagv.Add($"충전시작:{VAR.TIME[eVarTime.ChargeStart]}");
                                }
-                                _charging = PUB.AGV.system1.Battery_charging;
+                                _charging = agv_chg;
                            }

                            //배터리충전상태
-                            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != PUB.AGV.system1.Battery_charging)
+                            if (VAR.BOOL[eVarBool.FLAG_CHARGEONA] != agv_chg)
                            {
-                                PUB.log.Add($"충전상태전환 {PUB.AGV.system1.Battery_charging}");
-                                VAR.BOOL[eVarBool.FLAG_CHARGEONA] = PUB.AGV.system1.Battery_charging;
+                                PUB.log.Add($"충전상태전환 {agv_chg}");
+                                VAR.BOOL[eVarBool.FLAG_CHARGEONA] = agv_chg;
                            }
                            //자동충전해제시 곧바로 수동 충전되는 경우가 있어 자동 상태를 BMS에 넣는다 230118
-                            PUB.BMS.AutoCharge = PUB.AGV.system1.Battery_charging;
+                            PUB.BMS.AutoCharge = agv_chg;

                            if (PUB.AGV.error.Charger_pos_error != VAR.BOOL[eVarBool.CHG_POSERR])
                            {
@@ -135,41 +101,41 @@ namespace Project
                                VAR.BOOL[eVarBool.CHG_POSERR] = PUB.AGV.error.Charger_pos_error;
                            }

-                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] == true && PUB.AGV.signal.mark_sensor == false)
+                            //나르미가  멈췄다면  다음  마크  이동  기능이 OFF 된다
+                            if (agv_stp)
                            {
-                                //현재 활성화된 위치를 꺼준다
-                                if (this.ctlPos1.GetPositionActive(PUB.Result.CurrentPos))
+                                if (VAR.BOOL[eVarBool.NEXTSTOP_MARK])
                                {
-                                    var ts = VAR.TIME.RUN(eVarTime.MarkSensorOff);
-                                    if (ts.TotalSeconds >= 2)
-                                    {
-                                        ctlPos1.SetPositionDeActive();
-                                        PUB.log.Add($"현재 활성위치를 해제 함");
-                                    }
+                                    VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
+                                    PUB.logagv.Add($"NEXTSTOP_MARK 변경({VAR.BOOL[eVarBool.NEXTSTOP_MARK]})");
                                }
-
                            }

-                            //나르미가  멈췄다면  다음  마크  이동  기능이 OFF 된다
-                            if (PUB.AGV.system1.agv_stop)
-                                VAR.BOOL[eVarBool.NEXTSTOP_MARK] = false;
-
+                            //마크센서 상태가 변경이 되었다면
                            if (VAR.BOOL[eVarBool.MARK_SENSOR] != PUB.AGV.signal.mark_sensor)
                            {
-                                if (PUB.AGV.signal.mark_sensor)
-                                {
-                                    //현재위치를 확정한다
-                                    var curact = ctlPos1.GetPositionActive(PUB.Result.CurrentPos);
-                                    if (curact == false)
-                                    {
-                                        PUB.log.Add($"마크센서로인해 현재위치 설정완료:{PUB.Result.CurrentPos}");
-                                        ctlPos1.SetPositionActive(PUB.Result.CurrentPos);
-                                        ctlPos1.SetDirection("");
-                                        ctlPos1.Invalidate();
-                                    }
-                                }
+                                PUB.logagv.Add($"MARK_SENSOR 변경({PUB.AGV.signal.mark_sensor})");
                                VAR.BOOL[eVarBool.MARK_SENSOR] = PUB.AGV.signal.mark_sensor;
+
+                                //AGV가 멈췄고 마크센서가 ON되었다면 마지막 RFID 위치가 확정된경우이다
+                                if (agv_stp && VAR.BOOL[eVarBool.MARK_SENSOR])
+                                {
+                                    PUB.log.Add("마크스탑이 확인되어 최종위치를 PASS 처리 합니다");
+                                    var curnode = PUB._virtualAGV.SetCurrentNodeMarkStop();
+                                    if (curnode == true)
+                                    {
+                                        PUB.log.Add($"마크스탑으로 해당노드의 이동을 확정합니다");
+                                    }
+                                    else PUB.log.AddAT($"마크스탑이 확인되었으나 현재 노드가없어 PASS를 설정하지 못함");
+                                }
                            }
+                            if (VAR.BOOL[eVarBool.MARK_SENSOROFF] != VAR.BOOL[eVarBool.MARK_SENSOR])
+                            {
+                                VAR.BOOL[eVarBool.MARK_SENSOROFF] = !VAR.BOOL[eVarBool.MARK_SENSOR];
+                                VAR.TIME[eVarTime.MarkSensorOff] = DateTime.Now;
+                                PUB.log.Add($"MARK_SENSOROFF 변경({VAR.BOOL[eVarBool.MARK_SENSOROFF]})");
+                            }
+
                        }
                        break;
                    case arDev.Narumi.DataType.TAG:
@@ -197,7 +163,7 @@ namespace Project
                                    NodeId = newNodeId,
                                    RfidId = PUB.Result.LastTAG,
                                    Name = $"자동추가_{PUB.Result.LastTAG}",
-                                    Type = NodeType.Normal,                                    
+                                    Type = NodeType.Normal,
                                    Position = new Point(100, 100), // 기본 위치
                                    IsActive = true,
                                    DisplayColor = Color.Orange, // 자동 추가된 노드는 오렌지색으로 표시
@@ -239,8 +205,23 @@ namespace Project
                }

                //이 후 상황을 예측한다
-                var command = PUB._virtualAGV.Predict();
-                var preditMSG = $"Motor:{command.Motor},Magnet:{command.Magnet},Speed:{command.Speed} : {command.Reason}";
+                if (PUB._mapCanvas != null)
+                {
+                    var nextAction = PUB._virtualAGV.Predict();
+                    var message = $"[다음 행동 예측]\n\n" +
+                     $"모터: {nextAction.Motor}\n" +
+                     $"마그넷: {nextAction.Magnet}\n" +
+                     $"속도: {nextAction.Speed}\n" +
+                     $"이유: {nextAction.Message}\n\n" +
+                     $"---\n" +
+                     $"현재 상태: {PUB._virtualAGV.CurrentState}\n" +
+                     $"현재 방향: {PUB._virtualAGV.CurrentDirection}\n" +
+                     $"위치 확정: {PUB._virtualAGV.IsPositionConfirmed} (RFID {PUB._virtualAGV.DetectedRfidCount}개)\n" +
+                     $"현재 노드: {PUB._virtualAGV.CurrentNodeId ?? "없음"}";
+
+                    PUB._mapCanvas.PredictMessage = message;
+                }
+
            }
            catch (Exception ex)
            {
--- a/Cs_HMI/Project/StateMachine/_Loop.cs
+++ b/Cs_HMI/Project/StateMachine/_Loop.cs
@@ -159,7 +159,12 @@ namespace Project

                        // 동기화 모드 종료 (혹시 남아있을 경우)
                        if (PUB._mapCanvas != null)
-                            PUB._mapCanvas.ExitSyncMode();
+                        {
+                            this.Invoke(new Action(() => {
+                                PUB._mapCanvas.ExitSyncMode();
+                            }));
+                        }
+                            
                    }

                    //자동소거기능
@@ -183,6 +188,12 @@ namespace Project
                    break;

                case eSMStep.SYNC:
+                    if(e.isFirst)
+                    {
+                        // 동기화 완료 시 캔버스 모드 복귀
+                        if (PUB._mapCanvas != null)
+                            PUB._mapCanvas.SetSyncStatus("설정 동기화", 0f, "환경설정 값으로 AGV컨트롤러를 설정 합니다");
+                    }
                    if (_SM_RUN_SYNC(runStepisFirst, PUB.sm.GetRunSteptime))
                    {
                        var b1 = PUB.XBE.IsOpen;
--- a/Cs_HMI/Project/StateMachine/_TMDisplay.cs
+++ b/Cs_HMI/Project/StateMachine/_TMDisplay.cs
@@ -241,6 +241,7 @@ namespace Project
            var bCharge =
                (PUB.sm.RunStep == ERunStep.GOCHARGE || PUB.sm.RunStep == ERunStep.CHARGECHECK || VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true);

+            //가동, 목적지가 충전기라면 홈 이동이다
            var bHome = PUB.sm.Step == eSMStep.RUN && (PUB.sm.RunStep == ERunStep.GOHOME);
            //var bChargeM = PUB.flag.get(EFlag.FLAG_CHARGEONM);
            var bAuto = VAR.BOOL[eVarBool.FLAG_AUTORUN];
@@ -368,7 +369,7 @@ namespace Project
            }

            IOState.setTitle(inputrow, inputcol, "RUN"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.system1.agv_run ? 1 : 0));
-            IOState.setTitle(inputrow, inputcol, "MARK"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.signal.mark_sensor ? 1 : (VAR.BOOL[eVarBool.NEXTSTOP_MARK] ? 2 : 0)));
+            IOState.setTitle(inputrow, inputcol, "MARK"); IOState.setValue(inputrow, inputcol++, (VAR.BOOL[eVarBool.MARK_SENSOR] ? 1 : (VAR.BOOL[eVarBool.NEXTSTOP_MARK] ? 2 : 0)));
            IOState.setTitle(inputrow, inputcol, "CHG"); IOState.setValue(inputrow, inputcol++, (PUB.AGV.system1.Battery_charging ? 1 : 0));
            IOState.setTitle(inputrow, inputcol, "ITM"); IOState.setValue(inputrow, inputcol++, (VAR.BOOL[eVarBool.ITEMON] ? 1 : 0));
            IOState.Invalidate();
--- a/Cs_HMI/Project/StateMachine/_Xbee.cs
+++ b/Cs_HMI/Project/StateMachine/_Xbee.cs
@@ -160,7 +160,7 @@ namespace Project
                        var bunkidata = new arDev.Narumi.BunkiData();

                        //speed;
-                        if (AutSpeed == 1) bunkidata.Speed = arDev.Narumi.eMoveSpd.Middle;
+                        if (AutSpeed == 1) bunkidata.Speed = arDev.Narumi.eMoveSpd.Mid;
                        else if (AutSpeed == 2) bunkidata.Speed = arDev.Narumi.eMoveSpd.High;
                        else bunkidata.Speed = arDev.Narumi.eMoveSpd.Low;

--- a/Cs_HMI/Project/ViewForm/fManual.cs
+++ b/Cs_HMI/Project/ViewForm/fManual.cs
@@ -291,7 +291,7 @@ namespace Project.ViewForm

            if (radspdh.Checked) p.Speed = arDev.Narumi.eMoveSpd.High;
            else if (radspdl.Checked) p.Speed = arDev.Narumi.eMoveSpd.Low;
-            else p.Speed = arDev.Narumi.eMoveSpd.Middle;
+            else p.Speed = arDev.Narumi.eMoveSpd.Mid;

            if (radpbs1.Checked) p.PBSSensor = 2;
            else if (radpbs2.Checked) p.PBSSensor = 2;
@@ -307,7 +307,7 @@ namespace Project.ViewForm

        private void btChargeOn_Click(object sender, EventArgs e)
        {
-            if (PUB.AGV.signal.mark_sensor == false)
+            if (VAR.BOOL[eVarBool.MARK_SENSOR] == false)
            {
                UTIL.MsgE("마크센서가 확인되지 않아 충전을 시작할 수 없습니다");
                return;
--- a/Cs_HMI/Project/fMain.Designer.cs
+++ b/Cs_HMI/Project/fMain.Designer.cs
@@ -44,22 +44,6 @@ namespace Project
            arFrame.Control.ColorListItem colorListItem9 = new arFrame.Control.ColorListItem();
            arFrame.Control.ColorListItem colorListItem10 = new arFrame.Control.ColorListItem();
            arFrame.Control.ColorListItem colorListItem11 = new arFrame.Control.ColorListItem();
-            Project.CtlPos.item item1 = new Project.CtlPos.item();
-            Project.CtlPos.item item2 = new Project.CtlPos.item();
-            Project.CtlPos.item item3 = new Project.CtlPos.item();
-            Project.CtlPos.item item4 = new Project.CtlPos.item();
-            Project.CtlPos.item item5 = new Project.CtlPos.item();
-            Project.CtlPos.item item6 = new Project.CtlPos.item();
-            Project.CtlPos.item item7 = new Project.CtlPos.item();
-            Project.CtlPos.item item8 = new Project.CtlPos.item();
-            Project.CtlPos.item item9 = new Project.CtlPos.item();
-            Project.CtlPos.item item10 = new Project.CtlPos.item();
-            Project.CtlPos.item item11 = new Project.CtlPos.item();
-            Project.CtlPos.item item12 = new Project.CtlPos.item();
-            Project.CtlPos.item item13 = new Project.CtlPos.item();
-            Project.CtlPos.item item14 = new Project.CtlPos.item();
-            Project.CtlPos.item item15 = new Project.CtlPos.item();
-            Project.CtlPos.item item16 = new Project.CtlPos.item();
            this.tmDisplay = new System.Windows.Forms.Timer(this.components);
            this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
            this.MenuLift = new System.Windows.Forms.Button();
@@ -125,7 +109,6 @@ namespace Project
            this.lbIDLE = new arCtl.arLabel();
            this.lbStStep = new arCtl.arLabel();
            this.panTopMenu = new System.Windows.Forms.Panel();
-            this.lbBat = new AGVControl.BatteryLevelGauge();
            this.pictureBox1 = new System.Windows.Forms.PictureBox();
            this.cmDebug = new System.Windows.Forms.ContextMenuStrip(this.components);
            this.mapFileToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -138,12 +121,12 @@ namespace Project
            this.debugtestToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
            this.pandBottomDIO = new System.Windows.Forms.Panel();
            this.panel9 = new System.Windows.Forms.Panel();
-            this.IOState = new arFrame.Control.GridView();
-            this.SSInfo = new arFrame.Control.GridView();
            this.panDlg = new System.Windows.Forms.Panel();
            this.arPanel2 = new arCtl.arPanel();
            this.arPanel1 = new arCtl.arPanel();
-            this.ctlPos1 = new Project.CtlPos();
+            this.IOState = new arFrame.Control.GridView();
+            this.SSInfo = new arFrame.Control.GridView();
+            this.lbBat = new AGVControl.BatteryLevelGauge();
            this.panRight.SuspendLayout();
            this.tableLayoutPanel1.SuspendLayout();
            this.panel4.SuspendLayout();
@@ -299,7 +282,7 @@ namespace Project
            this.btAutoRun.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.btAutoRun.GradientRepeatBG = false;
            this.btAutoRun.isButton = true;
-            this.btAutoRun.Location = new System.Drawing.Point(0, 300);
+            this.btAutoRun.Location = new System.Drawing.Point(0, 360);
            this.btAutoRun.Margin = new System.Windows.Forms.Padding(0);
            this.btAutoRun.MouseDownColor = System.Drawing.Color.Empty;
            this.btAutoRun.MouseOverColor = System.Drawing.Color.Empty;
@@ -320,7 +303,7 @@ namespace Project
            this.btAutoRun.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btAutoRun.SignColor = System.Drawing.Color.Yellow;
            this.btAutoRun.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btAutoRun.Size = new System.Drawing.Size(259, 152);
+            this.btAutoRun.Size = new System.Drawing.Size(259, 180);
            this.btAutoRun.TabIndex = 22;
            this.btAutoRun.Text = "수동";
            this.btAutoRun.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -367,7 +350,7 @@ namespace Project
            this.btChargeA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btChargeA.SignColor = System.Drawing.Color.Yellow;
            this.btChargeA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeA.Size = new System.Drawing.Size(143, 150);
+            this.btChargeA.Size = new System.Drawing.Size(143, 180);
            this.btChargeA.TabIndex = 141;
            this.btChargeA.Text = "자동충전";
            this.btChargeA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -393,7 +376,7 @@ namespace Project
            this.lbTime.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
            this.lbTime.GradientRepeatBG = false;
            this.lbTime.isButton = false;
-            this.lbTime.Location = new System.Drawing.Point(5, 593);
+            this.lbTime.Location = new System.Drawing.Point(5, 681);
            this.lbTime.Margin = new System.Windows.Forms.Padding(0);
            this.lbTime.MouseDownColor = System.Drawing.Color.Yellow;
            this.lbTime.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -979,10 +962,10 @@ namespace Project
            this.panRight.Controls.Add(this.panel3);
            this.panRight.Controls.Add(this.panel1);
            this.panRight.Dock = System.Windows.Forms.DockStyle.Right;
-            this.panRight.Location = new System.Drawing.Point(1015, 146);
+            this.panRight.Location = new System.Drawing.Point(1015, 58);
            this.panRight.Name = "panRight";
            this.panRight.Padding = new System.Windows.Forms.Padding(5, 0, 0, 0);
-            this.panRight.Size = new System.Drawing.Size(264, 618);
+            this.panRight.Size = new System.Drawing.Size(264, 706);
            this.panRight.TabIndex = 131;
            // 
            // tableLayoutPanel1
@@ -1001,7 +984,7 @@ namespace Project
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 33.33333F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 452);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(259, 540);
            this.tableLayoutPanel1.TabIndex = 0;
            // 
            // btHome
@@ -1043,7 +1026,7 @@ namespace Project
            this.btHome.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btHome.SignColor = System.Drawing.Color.Yellow;
            this.btHome.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btHome.Size = new System.Drawing.Size(116, 300);
+            this.btHome.Size = new System.Drawing.Size(116, 360);
            this.btHome.TabIndex = 141;
            this.btHome.Text = "홈";
            this.btHome.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1068,7 +1051,7 @@ namespace Project
            this.btChargeM.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.btChargeM.GradientRepeatBG = false;
            this.btChargeM.isButton = true;
-            this.btChargeM.Location = new System.Drawing.Point(116, 150);
+            this.btChargeM.Location = new System.Drawing.Point(116, 180);
            this.btChargeM.Margin = new System.Windows.Forms.Padding(0);
            this.btChargeM.MouseDownColor = System.Drawing.Color.Yellow;
            this.btChargeM.MouseOverColor = System.Drawing.Color.Lime;
@@ -1089,7 +1072,7 @@ namespace Project
            this.btChargeM.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btChargeM.SignColor = System.Drawing.Color.Yellow;
            this.btChargeM.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btChargeM.Size = new System.Drawing.Size(143, 150);
+            this.btChargeM.Size = new System.Drawing.Size(143, 180);
            this.btChargeM.TabIndex = 141;
            this.btChargeM.Text = "수동충전";
            this.btChargeM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1130,13 +1113,13 @@ namespace Project
            this.lbCntQA.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.lbCntQA.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.lbCntQA.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntQA.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntQA.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.lbCntQA.ForeColor = System.Drawing.Color.Gray;
            this.lbCntQA.GradientEnable = true;
            this.lbCntQA.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.lbCntQA.GradientRepeatBG = false;
            this.lbCntQA.isButton = false;
-            this.lbCntQA.Location = new System.Drawing.Point(161, 0);
+            this.lbCntQA.Location = new System.Drawing.Point(180, 0);
            this.lbCntQA.Margin = new System.Windows.Forms.Padding(0);
            this.lbCntQA.MouseDownColor = System.Drawing.Color.Yellow;
            this.lbCntQA.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1157,7 +1140,7 @@ namespace Project
            this.lbCntQA.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.lbCntQA.SignColor = System.Drawing.Color.Yellow;
            this.lbCntQA.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntQA.Size = new System.Drawing.Size(93, 49);
+            this.lbCntQA.Size = new System.Drawing.Size(78, 49);
            this.lbCntQA.TabIndex = 6;
            this.lbCntQA.Text = "0000";
            this.lbCntQA.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1175,13 +1158,13 @@ namespace Project
            this.arLabel4.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.arLabel4.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.arLabel4.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel4.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.arLabel4.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.arLabel4.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel4.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
            this.arLabel4.GradientEnable = true;
            this.arLabel4.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.arLabel4.GradientRepeatBG = false;
            this.arLabel4.isButton = false;
-            this.arLabel4.Location = new System.Drawing.Point(127, 0);
+            this.arLabel4.Location = new System.Drawing.Point(129, 0);
            this.arLabel4.Margin = new System.Windows.Forms.Padding(0);
            this.arLabel4.MouseDownColor = System.Drawing.Color.Yellow;
            this.arLabel4.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1201,10 +1184,10 @@ namespace Project
            this.arLabel4.Sign = "";
            this.arLabel4.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.arLabel4.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel4.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel4.Size = new System.Drawing.Size(34, 49);
+            this.arLabel4.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel4.Size = new System.Drawing.Size(51, 49);
            this.arLabel4.TabIndex = 5;
-            this.arLabel4.Text = "QA";
+            this.arLabel4.Text = "CHARGER";
            this.arLabel4.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
            this.arLabel4.TextShadow = true;
            this.arLabel4.TextVisible = true;
@@ -1220,13 +1203,13 @@ namespace Project
            this.lbCntQC.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.lbCntQC.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.lbCntQC.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntQC.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntQC.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.lbCntQC.ForeColor = System.Drawing.Color.Gray;
            this.lbCntQC.GradientEnable = true;
            this.lbCntQC.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.lbCntQC.GradientRepeatBG = false;
            this.lbCntQC.isButton = false;
-            this.lbCntQC.Location = new System.Drawing.Point(34, 0);
+            this.lbCntQC.Location = new System.Drawing.Point(51, 0);
            this.lbCntQC.Margin = new System.Windows.Forms.Padding(0);
            this.lbCntQC.MouseDownColor = System.Drawing.Color.Yellow;
            this.lbCntQC.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1247,7 +1230,7 @@ namespace Project
            this.lbCntQC.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.lbCntQC.SignColor = System.Drawing.Color.Yellow;
            this.lbCntQC.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntQC.Size = new System.Drawing.Size(93, 49);
+            this.lbCntQC.Size = new System.Drawing.Size(78, 49);
            this.lbCntQC.TabIndex = 4;
            this.lbCntQC.Text = "0000";
            this.lbCntQC.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1265,7 +1248,7 @@ namespace Project
            this.arLabel9.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.arLabel9.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.arLabel9.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel9.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel9.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.arLabel9.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
            this.arLabel9.GradientEnable = true;
            this.arLabel9.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
@@ -1291,10 +1274,10 @@ namespace Project
            this.arLabel9.Sign = "";
            this.arLabel9.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.arLabel9.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel9.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel9.Size = new System.Drawing.Size(34, 49);
+            this.arLabel9.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel9.Size = new System.Drawing.Size(51, 49);
            this.arLabel9.TabIndex = 4;
-            this.arLabel9.Text = "QC";
+            this.arLabel9.Text = "UNLOADER";
            this.arLabel9.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
            this.arLabel9.TextShadow = true;
            this.arLabel9.TextVisible = true;
@@ -1323,13 +1306,13 @@ namespace Project
            this.lbCntDN.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.lbCntDN.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.lbCntDN.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCntDN.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCntDN.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.lbCntDN.ForeColor = System.Drawing.Color.Gray;
            this.lbCntDN.GradientEnable = true;
            this.lbCntDN.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.lbCntDN.GradientRepeatBG = false;
            this.lbCntDN.isButton = false;
-            this.lbCntDN.Location = new System.Drawing.Point(161, 0);
+            this.lbCntDN.Location = new System.Drawing.Point(180, 0);
            this.lbCntDN.Margin = new System.Windows.Forms.Padding(0);
            this.lbCntDN.MouseDownColor = System.Drawing.Color.Yellow;
            this.lbCntDN.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1350,7 +1333,7 @@ namespace Project
            this.lbCntDN.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.lbCntDN.SignColor = System.Drawing.Color.Yellow;
            this.lbCntDN.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCntDN.Size = new System.Drawing.Size(93, 49);
+            this.lbCntDN.Size = new System.Drawing.Size(78, 49);
            this.lbCntDN.TabIndex = 4;
            this.lbCntDN.Text = "0000";
            this.lbCntDN.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1369,13 +1352,13 @@ namespace Project
            this.arLabel7.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.arLabel7.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.arLabel7.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel7.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.arLabel7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(255)))));
+            this.arLabel7.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
            this.arLabel7.GradientEnable = true;
            this.arLabel7.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.arLabel7.GradientRepeatBG = false;
            this.arLabel7.isButton = false;
-            this.arLabel7.Location = new System.Drawing.Point(127, 0);
+            this.arLabel7.Location = new System.Drawing.Point(129, 0);
            this.arLabel7.Margin = new System.Windows.Forms.Padding(0);
            this.arLabel7.MouseDownColor = System.Drawing.Color.Yellow;
            this.arLabel7.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1395,10 +1378,10 @@ namespace Project
            this.arLabel7.Sign = "";
            this.arLabel7.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.arLabel7.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel7.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel7.Size = new System.Drawing.Size(34, 49);
+            this.arLabel7.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel7.Size = new System.Drawing.Size(51, 49);
            this.arLabel7.TabIndex = 4;
-            this.arLabel7.Text = "DN";
+            this.arLabel7.Text = "CLEANNER";
            this.arLabel7.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
            this.arLabel7.TextShadow = true;
            this.arLabel7.TextVisible = true;
@@ -1414,13 +1397,13 @@ namespace Project
            this.lbCNtUP.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.lbCNtUP.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.lbCNtUP.Dock = System.Windows.Forms.DockStyle.Left;
-            this.lbCNtUP.Font = new System.Drawing.Font("Consolas", 25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbCNtUP.Font = new System.Drawing.Font("Consolas", 20F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.lbCNtUP.ForeColor = System.Drawing.Color.Gray;
            this.lbCNtUP.GradientEnable = true;
            this.lbCNtUP.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.lbCNtUP.GradientRepeatBG = false;
            this.lbCNtUP.isButton = false;
-            this.lbCNtUP.Location = new System.Drawing.Point(34, 0);
+            this.lbCNtUP.Location = new System.Drawing.Point(51, 0);
            this.lbCNtUP.Margin = new System.Windows.Forms.Padding(0);
            this.lbCNtUP.MouseDownColor = System.Drawing.Color.Yellow;
            this.lbCNtUP.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
@@ -1441,7 +1424,7 @@ namespace Project
            this.lbCNtUP.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.lbCNtUP.SignColor = System.Drawing.Color.Yellow;
            this.lbCNtUP.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.lbCNtUP.Size = new System.Drawing.Size(93, 49);
+            this.lbCNtUP.Size = new System.Drawing.Size(78, 49);
            this.lbCNtUP.TabIndex = 4;
            this.lbCNtUP.Text = "0000";
            this.lbCNtUP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -1460,7 +1443,7 @@ namespace Project
            this.arLabel8.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.arLabel8.Cursor = System.Windows.Forms.Cursors.Arrow;
            this.arLabel8.Dock = System.Windows.Forms.DockStyle.Left;
-            this.arLabel8.Font = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.arLabel8.Font = new System.Drawing.Font("Bahnschrift Condensed", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.arLabel8.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
            this.arLabel8.GradientEnable = true;
            this.arLabel8.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
@@ -1486,10 +1469,10 @@ namespace Project
            this.arLabel8.Sign = "";
            this.arLabel8.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.arLabel8.SignColor = System.Drawing.Color.Yellow;
-            this.arLabel8.SignFont = new System.Drawing.Font("Consolas", 15F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
-            this.arLabel8.Size = new System.Drawing.Size(34, 49);
+            this.arLabel8.SignFont = new System.Drawing.Font("Consolas", 12F, ((System.Drawing.FontStyle)((System.Drawing.FontStyle.Bold | System.Drawing.FontStyle.Italic))));
+            this.arLabel8.Size = new System.Drawing.Size(51, 49);
            this.arLabel8.TabIndex = 4;
-            this.arLabel8.Text = "UP";
+            this.arLabel8.Text = "LOADER";
            this.arLabel8.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
            this.arLabel8.TextShadow = true;
            this.arLabel8.TextVisible = true;
@@ -1498,7 +1481,7 @@ namespace Project
            // 
            this.panel5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(18)))), ((int)(((byte)(18)))), ((int)(((byte)(18)))));
            this.panel5.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.panel5.Location = new System.Drawing.Point(5, 588);
+            this.panel5.Location = new System.Drawing.Point(5, 676);
            this.panel5.Name = "panel5";
            this.panel5.Size = new System.Drawing.Size(259, 5);
            this.panel5.TabIndex = 142;
@@ -1639,26 +1622,6 @@ namespace Project
            this.panTopMenu.Size = new System.Drawing.Size(1278, 50);
            this.panTopMenu.TabIndex = 134;
            // 
-            // lbBat
-            // 
-            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
-            this.lbBat.CurA = 0F;
-            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
-            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
-            this.lbBat.ForeColor = System.Drawing.Color.Gray;
-            this.lbBat.IsOpen = true;
-            this.lbBat.Location = new System.Drawing.Point(830, 0);
-            this.lbBat.MaxA = 0F;
-            this.lbBat.Name = "lbBat";
-            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
-            this.lbBat.sign = "%";
-            this.lbBat.Size = new System.Drawing.Size(48, 50);
-            this.lbBat.TabIndex = 23;
-            this.lbBat.Text = "12";
-            this.lbBat.VLevel = 50F;
-            this.lbBat.Volt = 0F;
-            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
-            // 
            // pictureBox1
            // 
            this.pictureBox1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
@@ -1769,6 +1732,70 @@ namespace Project
            this.panel9.Size = new System.Drawing.Size(1278, 35);
            this.panel9.TabIndex = 0;
            // 
+            // panDlg
+            // 
+            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
+            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panDlg.Location = new System.Drawing.Point(1, 58);
+            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
+            this.panDlg.Name = "panDlg";
+            this.panDlg.Size = new System.Drawing.Size(1014, 706);
+            this.panDlg.TabIndex = 146;
+            // 
+            // arPanel2
+            // 
+            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
+            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel2.GradientRepeatBG = false;
+            this.arPanel2.Location = new System.Drawing.Point(1, 55);
+            this.arPanel2.Name = "arPanel2";
+            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel2.ProgressMax = 100F;
+            this.arPanel2.ProgressMin = 0F;
+            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel2.ProgressValue = 0F;
+            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel2.ShowBorder = true;
+            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
+            this.arPanel2.TabIndex = 145;
+            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel2.TextShadow = false;
+            this.arPanel2.UseProgressBar = false;
+            // 
+            // arPanel1
+            // 
+            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
+            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
+            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
+            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
+            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
+            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
+            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
+            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
+            this.arPanel1.GradientRepeatBG = false;
+            this.arPanel1.Location = new System.Drawing.Point(1, 51);
+            this.arPanel1.Name = "arPanel1";
+            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
+            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
+            this.arPanel1.ProgressMax = 100F;
+            this.arPanel1.ProgressMin = 0F;
+            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
+            this.arPanel1.ProgressValue = 0F;
+            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
+            this.arPanel1.ShowBorder = true;
+            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
+            this.arPanel1.TabIndex = 135;
+            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
+            this.arPanel1.TextShadow = false;
+            this.arPanel1.UseProgressBar = false;
+            // 
            // IOState
            // 
            this.IOState.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(50)))), ((int)(((byte)(50)))), ((int)(((byte)(50)))));
@@ -1921,280 +1948,25 @@ namespace Project
        ((ushort)(0))};
            this.SSInfo.Click += new System.EventHandler(this.SSInfo_Click);
            // 
-            // panDlg
+            // lbBat
            // 
-            this.panDlg.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(64)))));
-            this.panDlg.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.panDlg.Location = new System.Drawing.Point(1, 146);
-            this.panDlg.Margin = new System.Windows.Forms.Padding(0);
-            this.panDlg.Name = "panDlg";
-            this.panDlg.Size = new System.Drawing.Size(1014, 618);
-            this.panDlg.TabIndex = 146;
-            // 
-            // arPanel2
-            // 
-            this.arPanel2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.arPanel2.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.arPanel2.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.arPanel2.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.arPanel2.Dock = System.Windows.Forms.DockStyle.Top;
-            this.arPanel2.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.arPanel2.ForeColor = System.Drawing.Color.Khaki;
-            this.arPanel2.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel2.GradientRepeatBG = false;
-            this.arPanel2.Location = new System.Drawing.Point(1, 143);
-            this.arPanel2.Name = "arPanel2";
-            this.arPanel2.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel2.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel2.ProgressMax = 100F;
-            this.arPanel2.ProgressMin = 0F;
-            this.arPanel2.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel2.ProgressValue = 0F;
-            this.arPanel2.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel2.ShowBorder = true;
-            this.arPanel2.Size = new System.Drawing.Size(1278, 3);
-            this.arPanel2.TabIndex = 145;
-            this.arPanel2.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel2.TextShadow = false;
-            this.arPanel2.UseProgressBar = false;
-            // 
-            // arPanel1
-            // 
-            this.arPanel1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(5)))), ((int)(((byte)(5)))), ((int)(((byte)(5)))));
-            this.arPanel1.BackColor2 = System.Drawing.Color.FromArgb(((int)(((byte)(20)))), ((int)(((byte)(20)))), ((int)(((byte)(20)))));
-            this.arPanel1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(25)))), ((int)(((byte)(25)))), ((int)(((byte)(25)))));
-            this.arPanel1.BorderSize = new System.Windows.Forms.Padding(0, 0, 0, 5);
-            this.arPanel1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.arPanel1.Font = new System.Drawing.Font("Consolas", 10F, System.Drawing.FontStyle.Italic);
-            this.arPanel1.ForeColor = System.Drawing.Color.Khaki;
-            this.arPanel1.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
-            this.arPanel1.GradientRepeatBG = false;
-            this.arPanel1.Location = new System.Drawing.Point(1, 51);
-            this.arPanel1.Name = "arPanel1";
-            this.arPanel1.ProgressColor1 = System.Drawing.Color.LightSkyBlue;
-            this.arPanel1.ProgressColor2 = System.Drawing.Color.DeepSkyBlue;
-            this.arPanel1.ProgressMax = 100F;
-            this.arPanel1.ProgressMin = 0F;
-            this.arPanel1.ProgressPadding = new System.Windows.Forms.Padding(0);
-            this.arPanel1.ProgressValue = 0F;
-            this.arPanel1.ShadowColor = System.Drawing.Color.Black;
-            this.arPanel1.ShowBorder = true;
-            this.arPanel1.Size = new System.Drawing.Size(1278, 4);
-            this.arPanel1.TabIndex = 135;
-            this.arPanel1.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.arPanel1.TextShadow = false;
-            this.arPanel1.UseProgressBar = false;
-            // 
-            // ctlPos1
-            // 
-            this.ctlPos1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(32)))), ((int)(((byte)(32)))), ((int)(((byte)(32)))));
-            this.ctlPos1.BorderColor = System.Drawing.Color.FromArgb(((int)(((byte)(40)))), ((int)(((byte)(40)))), ((int)(((byte)(40)))));
-            this.ctlPos1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.ctlPos1.Font = new System.Drawing.Font("맑은 고딕", 30F, System.Drawing.FontStyle.Bold);
-            this.ctlPos1.ForeColor = System.Drawing.Color.White;
-            this.ctlPos1.ItemGap = 5;
-            item1.Active = true;
-            item1.Direction = '1';
-            item1.Enable_Direction = true;
-            item1.Focus = false;
-            item1.fullrect = new System.Drawing.Rectangle(8, 8, 10, 75);
-            item1.ItemType = Project.CtlPos.itemtype.NLimit;
-            item1.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item1.Position = Project.ePosition.NOT;
-            item1.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item1.Target = false;
-            item1.Title = "N";
-            item2.Active = false;
-            item2.Direction = '1';
-            item2.Enable_Direction = true;
-            item2.Focus = false;
-            item2.fullrect = new System.Drawing.Rectangle(23, 8, 138, 58);
-            item2.ItemType = Project.CtlPos.itemtype.Item;
-            item2.leftrect = new System.Drawing.Rectangle(23, 70, 67, 13);
-            item2.Position = Project.ePosition.QA;
-            item2.rightrect = new System.Drawing.Rectangle(94, 70, 67, 13);
-            item2.Target = false;
-            item2.Title = "QC";
-            item3.Active = false;
-            item3.Direction = '0';
-            item3.Enable_Direction = true;
-            item3.Focus = false;
-            item3.fullrect = new System.Drawing.Rectangle(166, 8, 10, 75);
-            item3.ItemType = Project.CtlPos.itemtype.Spacer;
-            item3.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item3.Position = Project.ePosition.QA_QC;
-            item3.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item3.Target = false;
-            item3.Title = null;
-            item4.Active = false;
-            item4.Direction = '1';
-            item4.Enable_Direction = true;
-            item4.Focus = false;
-            item4.fullrect = new System.Drawing.Rectangle(181, 8, 138, 58);
-            item4.ItemType = Project.CtlPos.itemtype.Item;
-            item4.leftrect = new System.Drawing.Rectangle(181, 70, 67, 13);
-            item4.Position = Project.ePosition.QC;
-            item4.rightrect = new System.Drawing.Rectangle(252, 70, 67, 13);
-            item4.Target = true;
-            item4.Title = "QA";
-            item5.Active = true;
-            item5.Direction = '0';
-            item5.Enable_Direction = false;
-            item5.Focus = true;
-            item5.fullrect = new System.Drawing.Rectangle(324, 8, 138, 75);
-            item5.ItemType = Project.CtlPos.itemtype.Item;
-            item5.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item5.Position = Project.ePosition.CHARGE;
-            item5.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item5.Target = false;
-            item5.Title = "BAT";
-            item6.Active = false;
-            item6.Direction = '0';
-            item6.Enable_Direction = true;
-            item6.Focus = false;
-            item6.fullrect = new System.Drawing.Rectangle(467, 8, 10, 75);
-            item6.ItemType = Project.CtlPos.itemtype.Spacer;
-            item6.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item6.Position = Project.ePosition.QC_F1;
-            item6.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item6.Target = false;
-            item6.Title = null;
-            item7.Active = false;
-            item7.Direction = '2';
-            item7.Enable_Direction = true;
-            item7.Focus = false;
-            item7.fullrect = new System.Drawing.Rectangle(482, 8, 138, 58);
-            item7.ItemType = Project.CtlPos.itemtype.Item;
-            item7.leftrect = new System.Drawing.Rectangle(482, 70, 67, 13);
-            item7.Position = Project.ePosition.F1;
-            item7.rightrect = new System.Drawing.Rectangle(553, 70, 67, 13);
-            item7.Target = false;
-            item7.Title = "#1";
-            item8.Active = false;
-            item8.Direction = '0';
-            item8.Enable_Direction = true;
-            item8.Focus = false;
-            item8.fullrect = new System.Drawing.Rectangle(625, 8, 10, 75);
-            item8.ItemType = Project.CtlPos.itemtype.Spacer;
-            item8.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item8.Position = Project.ePosition.F1_F2;
-            item8.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item8.Target = false;
-            item8.Title = null;
-            item9.Active = false;
-            item9.Direction = '0';
-            item9.Enable_Direction = true;
-            item9.Focus = false;
-            item9.fullrect = new System.Drawing.Rectangle(640, 8, 138, 58);
-            item9.ItemType = Project.CtlPos.itemtype.Item;
-            item9.leftrect = new System.Drawing.Rectangle(640, 70, 67, 13);
-            item9.Position = Project.ePosition.F2;
-            item9.rightrect = new System.Drawing.Rectangle(711, 70, 67, 13);
-            item9.Target = false;
-            item9.Title = "#2";
-            item10.Active = false;
-            item10.Direction = '0';
-            item10.Enable_Direction = true;
-            item10.Focus = false;
-            item10.fullrect = new System.Drawing.Rectangle(783, 8, 10, 75);
-            item10.ItemType = Project.CtlPos.itemtype.Spacer;
-            item10.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item10.Position = Project.ePosition.F2_F3;
-            item10.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item10.Target = false;
-            item10.Title = null;
-            item11.Active = false;
-            item11.Direction = '1';
-            item11.Enable_Direction = true;
-            item11.Focus = false;
-            item11.fullrect = new System.Drawing.Rectangle(798, 8, 138, 58);
-            item11.ItemType = Project.CtlPos.itemtype.Item;
-            item11.leftrect = new System.Drawing.Rectangle(798, 70, 67, 13);
-            item11.Position = Project.ePosition.F3;
-            item11.rightrect = new System.Drawing.Rectangle(869, 70, 67, 13);
-            item11.Target = false;
-            item11.Title = "#3";
-            item12.Active = false;
-            item12.Direction = '0';
-            item12.Enable_Direction = true;
-            item12.Focus = false;
-            item12.fullrect = new System.Drawing.Rectangle(941, 8, 10, 75);
-            item12.ItemType = Project.CtlPos.itemtype.Spacer;
-            item12.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item12.Position = Project.ePosition.F3_F4;
-            item12.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item12.Target = false;
-            item12.Title = null;
-            item13.Active = false;
-            item13.Direction = '2';
-            item13.Enable_Direction = true;
-            item13.Focus = false;
-            item13.fullrect = new System.Drawing.Rectangle(956, 8, 138, 58);
-            item13.ItemType = Project.CtlPos.itemtype.Item;
-            item13.leftrect = new System.Drawing.Rectangle(956, 70, 67, 13);
-            item13.Position = Project.ePosition.F4;
-            item13.rightrect = new System.Drawing.Rectangle(1027, 70, 67, 13);
-            item13.Target = false;
-            item13.Title = "#4";
-            item14.Active = false;
-            item14.Direction = '0';
-            item14.Enable_Direction = true;
-            item14.Focus = false;
-            item14.fullrect = new System.Drawing.Rectangle(1099, 8, 10, 75);
-            item14.ItemType = Project.CtlPos.itemtype.Spacer;
-            item14.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item14.Position = Project.ePosition.F4_F5;
-            item14.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item14.Target = false;
-            item14.Title = null;
-            item15.Active = false;
-            item15.Direction = '2';
-            item15.Enable_Direction = true;
-            item15.Focus = false;
-            item15.fullrect = new System.Drawing.Rectangle(1114, 8, 138, 58);
-            item15.ItemType = Project.CtlPos.itemtype.Item;
-            item15.leftrect = new System.Drawing.Rectangle(1114, 70, 67, 13);
-            item15.Position = Project.ePosition.F5;
-            item15.rightrect = new System.Drawing.Rectangle(1185, 70, 67, 13);
-            item15.Target = false;
-            item15.Title = "#5";
-            item16.Active = true;
-            item16.Direction = '1';
-            item16.Enable_Direction = true;
-            item16.Focus = false;
-            item16.fullrect = new System.Drawing.Rectangle(1257, 8, 10, 75);
-            item16.ItemType = Project.CtlPos.itemtype.PLimit;
-            item16.leftrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item16.Position = Project.ePosition.POT;
-            item16.rightrect = new System.Drawing.Rectangle(0, 0, 0, 0);
-            item16.Target = false;
-            item16.Title = "P";
-            this.ctlPos1.Items = new Project.CtlPos.item[] {
-        item1,
-        item2,
-        item3,
-        item4,
-        item5,
-        item6,
-        item7,
-        item8,
-        item9,
-        item10,
-        item11,
-        item12,
-        item13,
-        item14,
-        item15,
-        item16};
-            this.ctlPos1.Location = new System.Drawing.Point(1, 55);
-            this.ctlPos1.MinimumSize = new System.Drawing.Size(100, 30);
-            this.ctlPos1.msg = null;
-            this.ctlPos1.Name = "ctlPos1";
-            this.ctlPos1.Padding = new System.Windows.Forms.Padding(8);
-            this.ctlPos1.Size = new System.Drawing.Size(1278, 88);
-            this.ctlPos1.TabIndex = 0;
-            this.ctlPos1.Text = "ctlPos1";
-            this.ctlPos1.Visible = false;
+            this.lbBat.BorderColor = System.Drawing.Color.DimGray;
+            this.lbBat.CurA = 0F;
+            this.lbBat.Dock = System.Windows.Forms.DockStyle.Right;
+            this.lbBat.Font = new System.Drawing.Font("Microsoft Sans Serif", 11.25F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbBat.ForeColor = System.Drawing.Color.Gray;
+            this.lbBat.IsOpen = true;
+            this.lbBat.Location = new System.Drawing.Point(830, 0);
+            this.lbBat.MaxA = 0F;
+            this.lbBat.Name = "lbBat";
+            this.lbBat.Padding = new System.Windows.Forms.Padding(0, 12, 0, 12);
+            this.lbBat.sign = "%";
+            this.lbBat.Size = new System.Drawing.Size(48, 50);
+            this.lbBat.TabIndex = 23;
+            this.lbBat.Text = "12";
+            this.lbBat.VLevel = 50F;
+            this.lbBat.Volt = 0F;
+            this.lbBat.Click += new System.EventHandler(this.lbBat_Click);
            // 
            // fMain
            // 
@@ -2205,7 +1977,6 @@ namespace Project
            this.Controls.Add(this.panRight);
            this.Controls.Add(this.arPanel2);
            this.Controls.Add(this.pandBottomDIO);
-            this.Controls.Add(this.ctlPos1);
            this.Controls.Add(this.arPanel1);
            this.Controls.Add(this.panTopMenu);
            this.DoubleBuffered = true;
@@ -2297,7 +2068,6 @@ namespace Project
        private System.Windows.Forms.Button MenuAuto;
        private System.Windows.Forms.Panel panDlg;
        private System.Windows.Forms.Button MenuLog;
-        private CtlPos ctlPos1;
        private System.Windows.Forms.TableLayoutPanel tableLayoutPanel1;
        private arCtl.arLabel btHome;
        private arCtl.arLabel btTopMenu_Volume;
--- a/Cs_HMI/Project/fMain.cs
+++ b/Cs_HMI/Project/fMain.cs
@@ -66,7 +66,6 @@ namespace Project
            this.panTopMenu.MouseDown += LbTitle_MouseDown;
            this.panTopMenu.DoubleClick += LbTitle_DoubleClick;

-            this.ctlPos1.ItemClick += CtlPos1_ItemClick;
            this.MouseMove += (s1, e1) => { if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now; };
            this.FormClosing += __Closing;

@@ -101,19 +100,6 @@ namespace Project
                }
        }

-        /// <summary>
-        /// 상단 위치 표시기의 대상 위치값을 표시 합니다
-        /// </summary>
-        /// <param name="sender"></param>
-        /// <param name="e"></param>
-        private void Display_Position_TargetPosSet(object sender, EventArgs e)
-        {
-            //대상위치가 설정되었다x
-            this.ctlPos1.SetTargetPosition(PUB.Result.TargetPos);
-            this.ctlPos1.Invalidate();
-        }
-
-
        private void __Closing(object sender, FormClosingEventArgs e)
        {
            // 장치 관리 태스크는 _STEP_CLOSING_START에서 종료됨
@@ -176,50 +162,31 @@ namespace Project
        private void __Load(object sender, EventArgs e)
        {
            this.Text = Application.ProductName + " ver " + Application.ProductVersion;
-            //this.lbTitle.Text = this.Text;
-            PUB.init(); //public initialize
-            if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;
-            //  PUB.log.RaiseMsg += log_RaiseMsg;
+            PUB.init();
+            if (PUB.setting.FullScreen)
+            {
+                this.FormBorderStyle = FormBorderStyle.None;
+                this.WindowState = FormWindowState.Maximized;
+            }
            this.Show();
-
-            PUB.Result.TargetPosSet += Display_Position_TargetPosSet;
-
-            this.ctlPos1.ClearData();
-            this.ctlPos1.Invalidate();
-
-            //lbDM1.Text = "";
-            //sbBatteryLv.Text = "";
-            btHome.Text = "홈";
-            btChargeA.Text = "자동충전";
-            VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
            Application.DoEvents();

-            //setting dio events
+            VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
+
+            //SETTING H/W
            this.IOState.ItemClick += gridView2_ItemClick;
-            //PUB.flag.ValueChanged += Flag_ValueChagned;
            VAR.BOOL.PropertyChanged += BOOL_PropertyChanged;

-
-            /////모터용 pLC
-            //PUB.PLC = new arDev.FakePLC();
-            //PUB.PLC.ValueChanged += PLC_DioChanged;
-            //PUB.PLC.FlagChanged += PLC_FlagChanged;
-            //PUB.PLC.Message += PLC_Message;
-
            //지그비통신
            PUB.XBE = new Device.Xbee();
            PUB.XBE.MessageReceived += XBE_MessageReceived;
            PUB.XBE.ProtocReceived += XBE_ProtocReceived;

-            //HWState.setTitle(1, 3, Pub.setting.Port_Xbee);
-            //HWState.setTitle(1, 0, Pub.setting.Address_RFID);
-
            //AGV
            PUB.AGV = new arDev.Narumi();
            PUB.AGV.Message += AGV_Message;
            PUB.AGV.DataReceive += AGV_DataReceive;

-
            //배터리관리시스템
            PUB.BMS = new arDev.BMS();
            PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
@@ -266,19 +233,11 @@ namespace Project
            }

            PUB.sm.StepChanged += sm_StepChanged;
-            PUB.log.Add("StateMachine", "StepChanged 이벤트 등록 완료");
-
            PUB.sm.Message += sm_Message;
-            PUB.log.Add("StateMachine", "Message 이벤트 등록 완료");
-
            PUB.sm.Running += sm_Running;
-            PUB.log.Add("StateMachine", "Running 이벤트 등록 완료");
-
            PUB.sm.SPS += sm_SPS;
-            PUB.log.Add("StateMachine", "SPS 이벤트 등록 완료");
-
            PUB.sm.Start();
-            PUB.log.Add("StateMachine", $"Start() 호출 완료 - IsThreadRun:{PUB.sm.IsThreadRun}");
+            PUB.log.Add("StateMachine", "SM 이벤트 등록 완료");

            // 스레드 시작 대기 (최대 3초)
            for (int i = 0; i < 30; i++)
@@ -307,10 +266,8 @@ namespace Project
            PUB.log.Add("Display", "Display Timer 시작 완료");

            this.btDebug.Visible = System.Diagnostics.Debugger.IsAttached || PUB.setting.UseDebugMode;
-
            PUB.log.Add("Program Start");

-
            //수량표시
            PUB.counter.PropertyChanged += (s1, e1) => Update_Count();
            Update_Count();
@@ -322,11 +279,8 @@ namespace Project
                MenuLog.PerformClick();

            PUB.AddEEDB("프로그램 시작");
-
        }

-
-
        #region "Mouse Form Move"

        private Boolean fMove = false;
@@ -417,12 +371,12 @@ namespace Project

        void func_sw_start(bool Prompt = false)
        {
-            if (PUB.sm.Step < eSMStep.IDLE)
+            if (PUB.sm.Step == eSMStep.SYNC)
            {
                UTIL.MsgE("초기화 중에는 사용할 수 없습니다\n초기화가 완료 된 후 시도하세요");
                return;
            }
-            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false || PUB.sm.Step != eSMStep.RUN)    //자동상태가 아니라면
+            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)    //자동상태가 아니라면
            {
                PUB.AGV.AGVErrorReset();
                if (Prompt)
@@ -433,9 +387,13 @@ namespace Project
                //충전상태확인
                if (PUB.CheckManualChargeMode() == false) return;
                PUB.popup.needClose = true;
-                PUB.sm.bPause = false;
+                //PUB.sm.bPause = false;
+                //PUB.sm.ClearRunStep();
+                //PUB.sm.SetNewRunStep(ERunStep.READY);
                PUB.sm.SetNewStep(eSMStep.RUN);
-                PUB.Speak(Lang.자동전환);
+                PUB.Speak(Lang.자동전환, addlog: false);
+
+                PUB.log.Add($"자동전환 이전스텝:{PUB.sm.RunStep},IDX:{PUB.sm.RunStepSeq}]");
            }
            else
            {
@@ -489,31 +447,6 @@ namespace Project
        }


-        private void CtlPos1_ItemClick(object sender, CtlPos.ItemClickEventArgs e)
-        {
-            if (VAR.BOOL[eVarBool.FLAG_CHARGEONM] == true)
-            {
-                UTIL.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
-                return;
-            }
-            if (VAR.BOOL[eVarBool.EMERGENCY] == true)
-            {
-                var dlgE = UTIL.MsgQ("비상정지 상태입니다.\n오류를 먼저 소거하고 실행 할까요?");
-                if (dlgE == DialogResult.Yes) PUB.AGV.AGVErrorReset();
-                else return;
-            }
-            //위치표시 컨트롤에서 아이템을 클릭했다
-            var dlg = new Dialog.fJobSelect();
-            PUB.log.Add("사용자 임의 위치 클릭 : " + e.Item.Title);
-            switch (e.Item.Position)
-            {
-
-
-
-            }
-            if (dlg != null) dlg.Dispose();
-        }
-
        private void demoRunToolStripMenuItem_Click(object sender, EventArgs e)
        {
            PUB.Result.JobEndTime = DateTime.Now;
@@ -577,6 +510,7 @@ namespace Project
                }

            VAR.BOOL[eVarBool.FLAG_SETUP] = false;// VAR.BOOL[eVarBool.FLAG_SETUP] = false;//VAR.BOOL[eVarBool.FLAG_SETUP] = false;
+
            if (popmsg) PUB.popup.Visible = true;
        }

@@ -681,7 +615,10 @@ namespace Project
                if (dlg == DialogResult.Yes)
                {
                    PUB.sm.ClearRunStep();
-                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
+                    //대상노드를 충전기로하고 
+                    PUB._virtualAGV.StartNode = null;
+                    PUB._virtualAGV.TargetNode = null;
+                    PUB.sm.SetNewRunStep(ERunStep.GOTO);
                    PUB.sm.SetNewStep(eSMStep.RUN);
                    PUB.log.Add("사용자 충전 해제");
                }
@@ -720,26 +657,23 @@ namespace Project
        }
        private void brHome_Click(object sender, EventArgs e)
        {
-            var bCharge = PUB.sm.Step == eSMStep.RUN &&
-              (PUB.sm.RunStep == ERunStep.GOHOME);
-
            if (PUB.CheckManualChargeMode() == false) return;

-            if (bCharge == true)
+            var bHome = PUB.sm.Step == eSMStep.RUN && (PUB.sm.RunStep == ERunStep.GOHOME);
+            if (bHome == true)
            {
-                var dlg = UTIL.MsgQ("홈(QC) 이동을 취소 할까요?");
+                var dlg = UTIL.MsgQ("홈 이동을 취소 할까요?");
                if (dlg == DialogResult.Yes)
                {
                    PUB.sm.ClearRunStep();
                    PUB.sm.SetNewStep(eSMStep.IDLE);
                    PUB.AGV.AGVMoveStop("user home cancle", arDev.Narumi.eStopOpt.Stop);
-                    //PUB.AGV.AddCommand(arDev.Narumi.eAgvCmd.MoveStop);//.Move(Device.PLC.Rundirection.Stop, "사용자 홈 이동 취소");
                    PUB.log.Add("사용자 홈 이동 취소");
                }
            }
            else
            {
-                var dlg = UTIL.MsgQ("홈(QC) 이동을 실행 할까요?");
+                var dlg = UTIL.MsgQ("홈 이동을 실행 할까요?");
                if (dlg == DialogResult.Yes)
                {
                    PUB.sm.ClearRunStep();
@@ -748,7 +682,6 @@ namespace Project
                    PUB.log.Add("사용자 홈 이동 실행");
                }
            }
-
        }


@@ -869,6 +802,7 @@ namespace Project
            {
                var _mapCanvas = PUB._mapCanvas;
                PUB._mapNodes = result.Nodes;
+                PUB.log.Add($"Set _mapNodes");

                // 맵 캔버스에 데이터 설정
                _mapCanvas.Nodes = result.Nodes;
--- a/Cs_HMI/Project/fSetup.Designer.cs
+++ b/Cs_HMI/Project/fSetup.Designer.cs
@@ -175,7 +175,6 @@
            this.tbMCID = new System.Windows.Forms.TextBox();
            this.label4 = new System.Windows.Forms.Label();
            this.chkDetectManualCharge = new System.Windows.Forms.CheckBox();
-            this.chkAGVDirBack = new System.Windows.Forms.CheckBox();
            this.chkFullScreen = new System.Windows.Forms.CheckBox();
            this.nudMusicVol = new System.Windows.Forms.NumericUpDown();
            this.label22 = new System.Windows.Forms.Label();
@@ -251,7 +250,7 @@
            this.tabControl1.Multiline = true;
            this.tabControl1.Name = "tabControl1";
            this.tabControl1.SelectedIndex = 0;
-            this.tabControl1.Size = new System.Drawing.Size(1270, 598);
+            this.tabControl1.Size = new System.Drawing.Size(1270, 578);
            this.tabControl1.TabIndex = 14;
            // 
            // tabPage6
@@ -259,7 +258,7 @@
            this.tabPage6.Controls.Add(this.panel1);
            this.tabPage6.Location = new System.Drawing.Point(4, 4);
            this.tabPage6.Name = "tabPage6";
-            this.tabPage6.Size = new System.Drawing.Size(1244, 590);
+            this.tabPage6.Size = new System.Drawing.Size(1244, 570);
            this.tabPage6.TabIndex = 6;
            this.tabPage6.Text = "일반";
            this.tabPage6.UseVisualStyleBackColor = true;
@@ -276,19 +275,21 @@
            // 
            // tableLayoutPanel1
            // 
+            this.tableLayoutPanel1.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom) 
+            | System.Windows.Forms.AnchorStyles.Left) 
+            | System.Windows.Forms.AnchorStyles.Right)));
            this.tableLayoutPanel1.ColumnCount = 2;
            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
            this.tableLayoutPanel1.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.Controls.Add(this.btMusic, 0, 1);
            this.tableLayoutPanel1.Controls.Add(this.btAutoCharge, 1, 0);
            this.tableLayoutPanel1.Controls.Add(this.btSpeaker, 0, 0);
-            this.tableLayoutPanel1.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.tableLayoutPanel1.Location = new System.Drawing.Point(3, 0);
+            this.tableLayoutPanel1.Controls.Add(this.btMusic, 0, 1);
+            this.tableLayoutPanel1.Location = new System.Drawing.Point(17, 17);
            this.tableLayoutPanel1.Name = "tableLayoutPanel1";
            this.tableLayoutPanel1.RowCount = 2;
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
            this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Percent, 50F));
-            this.tableLayoutPanel1.Size = new System.Drawing.Size(1238, 648);
+            this.tableLayoutPanel1.Size = new System.Drawing.Size(1227, 550);
            this.tableLayoutPanel1.TabIndex = 24;
            // 
            // btMusic
@@ -308,7 +309,7 @@
            this.btMusic.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
            this.btMusic.GradientRepeatBG = false;
            this.btMusic.isButton = true;
-            this.btMusic.Location = new System.Drawing.Point(3, 327);
+            this.btMusic.Location = new System.Drawing.Point(3, 278);
            this.btMusic.MouseDownColor = System.Drawing.Color.Yellow;
            this.btMusic.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
            this.btMusic.msg = null;
@@ -328,7 +329,7 @@
            this.btMusic.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btMusic.SignColor = System.Drawing.Color.Yellow;
            this.btMusic.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btMusic.Size = new System.Drawing.Size(613, 318);
+            this.btMusic.Size = new System.Drawing.Size(607, 269);
            this.btMusic.TabIndex = 23;
            this.btMusic.Tag = "2";
            this.btMusic.Text = "배경음악";
@@ -354,7 +355,7 @@
            this.btAutoCharge.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.Vertical;
            this.btAutoCharge.GradientRepeatBG = false;
            this.btAutoCharge.isButton = true;
-            this.btAutoCharge.Location = new System.Drawing.Point(622, 3);
+            this.btAutoCharge.Location = new System.Drawing.Point(616, 3);
            this.btAutoCharge.MouseDownColor = System.Drawing.Color.Yellow;
            this.btAutoCharge.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
            this.btAutoCharge.msg = null;
@@ -374,7 +375,7 @@
            this.btAutoCharge.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btAutoCharge.SignColor = System.Drawing.Color.Yellow;
            this.btAutoCharge.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btAutoCharge.Size = new System.Drawing.Size(613, 318);
+            this.btAutoCharge.Size = new System.Drawing.Size(608, 269);
            this.btAutoCharge.TabIndex = 20;
            this.btAutoCharge.Tag = "1";
            this.btAutoCharge.Text = "자동충전";
@@ -420,7 +421,7 @@
            this.btSpeaker.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btSpeaker.SignColor = System.Drawing.Color.Yellow;
            this.btSpeaker.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btSpeaker.Size = new System.Drawing.Size(613, 318);
+            this.btSpeaker.Size = new System.Drawing.Size(607, 269);
            this.btSpeaker.TabIndex = 11;
            this.btSpeaker.Tag = "0";
            this.btSpeaker.Text = "음성지원";
@@ -481,7 +482,7 @@
            this.tabPage1.Location = new System.Drawing.Point(4, 4);
            this.tabPage1.Name = "tabPage1";
            this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage1.Size = new System.Drawing.Size(1244, 590);
+            this.tabPage1.Size = new System.Drawing.Size(1244, 570);
            this.tabPage1.TabIndex = 0;
            this.tabPage1.Text = "AGV";
            // 
@@ -1640,7 +1641,7 @@
            this.label44.AutoSize = true;
            this.label44.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
            this.label44.ForeColor = System.Drawing.Color.WhiteSmoke;
-            this.label44.Location = new System.Drawing.Point(473, 546);
+            this.label44.Location = new System.Drawing.Point(1152, 201);
            this.label44.Name = "label44";
            this.label44.Size = new System.Drawing.Size(49, 24);
            this.label44.TabIndex = 64;
@@ -1651,7 +1652,7 @@
            this.label29.AutoSize = true;
            this.label29.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
            this.label29.ForeColor = System.Drawing.Color.SkyBlue;
-            this.label29.Location = new System.Drawing.Point(51, 546);
+            this.label29.Location = new System.Drawing.Point(730, 201);
            this.label29.Name = "label29";
            this.label29.Size = new System.Drawing.Size(211, 24);
            this.label29.TabIndex = 62;
@@ -1706,7 +1707,7 @@
            this.label28.AutoSize = true;
            this.label28.Font = new System.Drawing.Font("궁서체", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
            this.label28.ForeColor = System.Drawing.Color.SkyBlue;
-            this.label28.Location = new System.Drawing.Point(138, 503);
+            this.label28.Location = new System.Drawing.Point(817, 158);
            this.label28.Name = "label28";
            this.label28.Size = new System.Drawing.Size(124, 24);
            this.label28.TabIndex = 29;
@@ -1913,7 +1914,7 @@
            this.vcChargeWaitSec.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.vcChargeWaitSec.ForeColor = System.Drawing.Color.WhiteSmoke;
            this.vcChargeWaitSec.ForeColorButton = System.Drawing.Color.Black;
-            this.vcChargeWaitSec.Location = new System.Drawing.Point(270, 540);
+            this.vcChargeWaitSec.Location = new System.Drawing.Point(949, 195);
            this.vcChargeWaitSec.MaxValue = 999999D;
            this.vcChargeWaitSec.MinValue = 0D;
            this.vcChargeWaitSec.Name = "vcChargeWaitSec";
@@ -1937,7 +1938,7 @@
            this.tbChargerID.FontSideButton = new System.Drawing.Font("Consolas", 15F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.tbChargerID.ForeColor = System.Drawing.Color.WhiteSmoke;
            this.tbChargerID.ForeColorButton = System.Drawing.Color.Black;
-            this.tbChargerID.Location = new System.Drawing.Point(270, 497);
+            this.tbChargerID.Location = new System.Drawing.Point(949, 152);
            this.tbChargerID.MaxValue = 999999D;
            this.tbChargerID.MinValue = 0D;
            this.tbChargerID.Name = "tbChargerID";
@@ -2729,7 +2730,6 @@
            this.groupBox3.Controls.Add(this.propertyGrid1);
            this.groupBox3.Controls.Add(this.groupBox1);
            this.groupBox3.Controls.Add(this.chkDetectManualCharge);
-            this.groupBox3.Controls.Add(this.chkAGVDirBack);
            this.groupBox3.Controls.Add(this.chkFullScreen);
            this.groupBox3.Controls.Add(this.nudMusicVol);
            this.groupBox3.Controls.Add(this.label22);
@@ -2765,7 +2765,7 @@
            this.propertyGrid1.Font = new System.Drawing.Font("맑은 고딕", 11.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
            this.propertyGrid1.Location = new System.Drawing.Point(678, 109);
            this.propertyGrid1.Name = "propertyGrid1";
-            this.propertyGrid1.Size = new System.Drawing.Size(538, 448);
+            this.propertyGrid1.Size = new System.Drawing.Size(538, 426);
            this.propertyGrid1.TabIndex = 11;
            // 
            // groupBox1
@@ -2806,18 +2806,6 @@
            this.chkDetectManualCharge.Text = "수동 충전 감지";
            this.chkDetectManualCharge.UseVisualStyleBackColor = true;
            // 
-            // chkAGVDirBack
-            // 
-            this.chkAGVDirBack.AutoSize = true;
-            this.chkAGVDirBack.Font = new System.Drawing.Font("궁서체", 20F, System.Drawing.FontStyle.Bold);
-            this.chkAGVDirBack.ForeColor = System.Drawing.Color.Red;
-            this.chkAGVDirBack.Location = new System.Drawing.Point(27, 72);
-            this.chkAGVDirBack.Name = "chkAGVDirBack";
-            this.chkAGVDirBack.Size = new System.Drawing.Size(619, 31);
-            this.chkAGVDirBack.TabIndex = 8;
-            this.chkAGVDirBack.Text = "FVI 이동시 Backward 방향으로 이동 합니다";
-            this.chkAGVDirBack.UseVisualStyleBackColor = true;
-            // 
            // chkFullScreen
            // 
            this.chkFullScreen.AutoSize = true;
@@ -3374,13 +3362,13 @@
            this.btSave.ColorTheme = arCtl.arLabel.eColorTheme.Custom;
            this.btSave.Cursor = System.Windows.Forms.Cursors.Hand;
            this.btSave.Dock = System.Windows.Forms.DockStyle.Bottom;
-            this.btSave.Font = new System.Drawing.Font("궁서체", 21.75F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
+            this.btSave.Font = new System.Drawing.Font("궁서체", 30F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(129)));
            this.btSave.ForeColor = System.Drawing.Color.White;
            this.btSave.GradientEnable = true;
            this.btSave.GradientMode = System.Drawing.Drawing2D.LinearGradientMode.ForwardDiagonal;
            this.btSave.GradientRepeatBG = false;
            this.btSave.isButton = true;
-            this.btSave.Location = new System.Drawing.Point(5, 740);
+            this.btSave.Location = new System.Drawing.Point(5, 720);
            this.btSave.MouseDownColor = System.Drawing.Color.Yellow;
            this.btSave.MouseOverColor = System.Drawing.Color.FromArgb(((int)(((byte)(64)))), ((int)(((byte)(64)))), ((int)(((byte)(64)))));
            this.btSave.msg = null;
@@ -3400,7 +3388,7 @@
            this.btSave.SignAlign = System.Drawing.ContentAlignment.BottomRight;
            this.btSave.SignColor = System.Drawing.Color.Yellow;
            this.btSave.SignFont = new System.Drawing.Font("Consolas", 7F, System.Drawing.FontStyle.Italic);
-            this.btSave.Size = new System.Drawing.Size(1270, 55);
+            this.btSave.Size = new System.Drawing.Size(1270, 75);
            this.btSave.TabIndex = 8;
            this.btSave.Text = "저장";
            this.btSave.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -3569,7 +3557,6 @@
        private AGVControl.ValueSelect vcChargeStartLevel;
        private AGVControl.ValueSelect vcChargeMaxLevel;
        private System.Windows.Forms.GroupBox groupBox3;
-        private System.Windows.Forms.CheckBox chkAGVDirBack;
        private System.Windows.Forms.CheckBox chkFullScreen;
        private System.Windows.Forms.NumericUpDown nudMusicVol;
        private System.Windows.Forms.Label label22;
--- a/Cs_HMI/Project/fSetup.cs
+++ b/Cs_HMI/Project/fSetup.cs
@@ -116,10 +116,7 @@ namespace Project
            SetColorValue(btSpeaker, PUB.setting.Enable_Speak);
            SetColorValue(btAutoCharge, PUB.setting.Enable_AutoCharge);
            SetColorValue(btMusic, PUB.setting.Enable_Music);
-
-            nudDoorSoundTerm.Value = PUB.setting.doorSoundTerm;
-            chkAGVDirBack.Checked = PUB.setting.AGV_Direction_FVI_Backward;
-
+            nudDoorSoundTerm.Value = PUB.setting.alarmSoundTerm;
            chkClear1.Checked = PUB.setting.datetime_Check_1;
            chkClear2.Checked = PUB.setting.datetime_Check_2;
            cleartime1.Value = DateTime.Parse("1982-11-23 " + PUB.setting.datetime_Reset_1 + ":00");
@@ -299,7 +296,6 @@ namespace Project
            PUB.setting.ChargeMaxTime = (int)vcChargeMaxTime.Value;
            //Pub.setting.ChargeIdleInterval = (int)nudChargeIdleInterval.Value;
            PUB.setting.ChargeRetryTerm = (int)vcChargeRetryTerm.Value;
-            PUB.setting.AGV_Direction_FVI_Backward = chkAGVDirBack.Checked;

            //초기화시간
            PUB.setting.datetime_Check_1 = chkClear1.Checked;
@@ -340,8 +336,8 @@ namespace Project
            PUB.SetVolume((int)nudMusicVol.Value);
            PUB.setting.ChargeSearchTime = (int)vcChargeSearchTime.Value;

-            PUB.setting.doorSoundTerm = (int)nudDoorSoundTerm.Value;
-            if (PUB.setting.doorSoundTerm < 1) PUB.setting.doorSoundTerm = 15; //기본값 15초
+            PUB.setting.alarmSoundTerm = (int)nudDoorSoundTerm.Value;
+            if (PUB.setting.alarmSoundTerm < 1) PUB.setting.alarmSoundTerm = 15; //기본값 15초

            ////핀설정
            //var baL = new System.Collections.BitArray(new byte[] { PUB.setting.PinReverse_DI_Low });