diff --git a/Cs_HMI/Project/Class/Lang.cs b/Cs_HMI/Project/Class/Lang.cs
index 62c8165..f3d609a 100644
--- a/Cs_HMI/Project/Class/Lang.cs
+++ b/Cs_HMI/Project/Class/Lang.cs
@@ -51,7 +51,7 @@ namespace Project
         public static string AGV연결실패 { get { return string.Format("AGV {0}", 연결실패); } }
         public static string 예측값이계산되지않아이동을중단합니다 = "이동 예측이 동작하지 않습니다. 개발부서에 문의 하세요";
         public static string 목적지이동이완료되었습니다 = "목적지 이동 이 완료 되었습니다";
-
+        public static string 홈검색을시작합니다 = "홈검색을시작합니다";
 
 
         public static string 상차 = "상차";
diff --git a/Cs_HMI/Project/MessageWindow/MessageWindow.cs b/Cs_HMI/Project/MessageWindow/MessageWindow.cs
index 90e558c..ee7c346 100644
--- a/Cs_HMI/Project/MessageWindow/MessageWindow.cs
+++ b/Cs_HMI/Project/MessageWindow/MessageWindow.cs
@@ -24,7 +24,16 @@ namespace Project
         }
 
 
-        public bool needClose = false;
+        private bool _needclose = false;
+        public bool needClose
+        {
+            get { return _needclose; }
+            set
+            {
+                if (Visible)    //현재 화면이 열러잇다면?
+                    _needclose = value;
+            }
+        }
         public Boolean needShow = false;
         private CMessageData msgBuffer = new CMessageData();
 
@@ -128,7 +137,7 @@ namespace Project
             }
             set
             {
-                if(value == true)
+                if (value == true)
                 {
                     if (msgwin.Visible == false)
                     {
@@ -144,10 +153,10 @@ namespace Project
                 else
                 {
                     if (msgwin != null)
-                    msgwin.Visible = false;
+                        msgwin.Visible = false;
                     needClose = false;
                 }
-                
+
             }
         }
 
diff --git a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GODOWN.cs b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GODOWN.cs
index 4b8e529..e1b0d65 100644
--- a/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GODOWN.cs
+++ b/Cs_HMI/Project/StateMachine/Step/_SM_RUN_GODOWN.cs
@@ -150,7 +150,7 @@ namespace Project
             {
                 //IO업데이트 간격 전송
                 UpdateProgressStatus(stepTime.TotalSeconds, 5, Lang.안전커버를올려주세요);
-                PUB.Speak(Lang.안전커버를올리면하차가완료됩니다);
+                //PUB.Speak(Lang.안전커버를올리면하차가완료됩니다);
                 VAR.BOOL[eVarBool.WAIT_COVER_UP] = true;
                 CoverControlTime = DateTime.Now;
                 PUB.sm.UpdateRunStepSeq();
diff --git a/Cs_HMI/Project/ViewForm/fAuto.cs b/Cs_HMI/Project/ViewForm/fAuto.cs
index 5a86d7f..843dcb8 100644
--- a/Cs_HMI/Project/ViewForm/fAuto.cs
+++ b/Cs_HMI/Project/ViewForm/fAuto.cs
@@ -10,7 +10,6 @@ using System.Windows.Forms;
 using Project.StateMachine;
 using COMM;
 using AR;
-using System.Security.Cryptography.X509Certificates;
 
 namespace Project.ViewForm
 {
diff --git a/Cs_HMI/StateMachine/StateMachine.cs b/Cs_HMI/StateMachine/StateMachine.cs
index 1b1badd..0d53f61 100644
--- a/Cs_HMI/StateMachine/StateMachine.cs
+++ b/Cs_HMI/StateMachine/StateMachine.cs
@@ -67,7 +67,7 @@ namespace Project.StateMachine
 
 		public void Stop()
 		{
-			bLoop = false;
+			if(bLoop != false) bLoop = false;
 			//if (worker.IsAlive)
 			//	if (worker.Join(1000) == false)
 			//		worker.Abort();
diff --git a/Cs_HMI/SubProject/AGVControl/MapControl.cs b/Cs_HMI/SubProject/AGVControl/MapControl.cs
index cb26ac3..f7f9702 100644
--- a/Cs_HMI/SubProject/AGVControl/MapControl.cs
+++ b/Cs_HMI/SubProject/AGVControl/MapControl.cs
@@ -242,7 +242,7 @@ namespace AGVControl
                     case eMouseMode.addrfidpoint:
                         if (string.IsNullOrEmpty(this.RFIDStartNo) == false)
                         {
-                            if (uint.TryParse(this.RFIDStartNo, out uint rfidvalue))
+                            if (ushort.TryParse(this.RFIDStartNo, out ushort rfidvalue))
                             {
                                 AddRFIDPoint(mapPoint, rfidvalue);
 
@@ -1668,7 +1668,7 @@ namespace AGVControl
             this.Invalidate();
         }
 
-        public void AddRFIDPoint(Point mapLocation, uint rfidValue)
+        public void AddRFIDPoint(Point mapLocation, ushort rfidValue)
         {
             var rfidPoint = new RFIDPoint
             {
@@ -1754,7 +1754,7 @@ namespace AGVControl
                         {
                             var validX = int.TryParse(rfidParts[0], out int valX);
                             var validY = int.TryParse(rfidParts[1], out int valY);
-                            var validN = uint.TryParse(rfidParts[2], out uint valRfid);
+                            var validN = ushort.TryParse(rfidParts[2], out ushort valRfid);
 
                             if (validX && validY && validN)
                             {
diff --git a/Cs_HMI/SubProject/AGVControl/Models/RFIDConnection.cs b/Cs_HMI/SubProject/AGVControl/Models/RFIDConnection.cs
index ebe98a3..2dea26b 100644
--- a/Cs_HMI/SubProject/AGVControl/Models/RFIDConnection.cs
+++ b/Cs_HMI/SubProject/AGVControl/Models/RFIDConnection.cs
@@ -91,8 +91,8 @@ namespace AGVControl
                     var p1y = int.Parse(buf[1]);
                     var p2x = int.Parse(buf[2]);
                     var p2y = int.Parse(buf[3]);
-                    var p1v = uint.Parse(buf[4]);
-                    var p2v = uint.Parse(buf[5]);
+                    var p1v = ushort.Parse(buf[4]);
+                    var p2v = ushort.Parse(buf[5]);
 
                     if (P1 == null) P1 = new RFIDPoint();
                     P1.Location = new System.Drawing.Point(p1x, p1y);