diff --git a/AGVLogic/EnigProtocol/enigprotocol/Commands.cs b/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
index 3377d38..a4ac3fb 100644
--- a/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
+++ b/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
@@ -73,6 +73,7 @@ namespace ENIGProtocol
         BUFFER_NOT_COMPLETE,
         MARK_STOP_FAIL,
         LIDAR_STOP,
+        NOT_BUFFERPOINT,
     }
 
     public static class AGVUtility
@@ -109,6 +110,7 @@ namespace ENIGProtocol
                 case AGVErrorCode.NOTSET_CHARGEPOINT: return "충전기 노드 미설정";
                 case AGVErrorCode.ALREADY_CHARGE: return "이미 충전 중 상태임";
                 case AGVErrorCode.CHARGE_RETRY_OVER: return $"충전명령 재전송 횟수 초과";
+                case AGVErrorCode.NOT_BUFFERPOINT: return "현재 위치가 버퍼가 아닙니다";
                 default: return ecode.ToString();
             }
         }
diff --git a/Document/MPLAB-PICkit-5-In-Circuit-Debugger-User-Guide-DS50003525.pdf b/Document/MPLAB-PICkit-5-In-Circuit-Debugger-User-Guide-DS50003525.pdf
deleted file mode 100644
index f83f257..0000000
Binary files a/Document/MPLAB-PICkit-5-In-Circuit-Debugger-User-Guide-DS50003525.pdf and /dev/null differ
diff --git a/Document/NewMap.json b/Document/NewMap.json
deleted file mode 100644
index 5799617..0000000
--- a/Document/NewMap.json
+++ /dev/null
@@ -1,1005 +0,0 @@
-{
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-      "ControlPoint": {
-        "X": 521.7478632478632,
-        "Y": 351.3660130718954
-      }
-    },
-    {
-      "Id": "7007db10-b61b-4726-9775-417951454ddf",
-      "Type": 4,
-      "P1": {
-        "X": 465.08119658119654,
-        "Y": 450.2549019607842
-      },
-      "P2": {
-        "X": 518.2491858425353,
-        "Y": 519.0597150914111
-      },
-      "ControlPoint": {
-        "X": 522.8589743589743,
-        "Y": 450.8104575163398
-      }
-    },
-    {
-      "Id": "4ef4bfd0-8fc4-48a5-a490-92b35c7fd1c3",
-      "Type": 4,
-      "P1": {
-        "X": 473.3084256253576,
-        "Y": 351.58859045052856
-      },
-      "P2": {
-        "X": 515.4512827682147,
-        "Y": 309.8028761648143
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-      "ControlPoint": {
-        "X": 519.0227113396433,
-        "Y": 358.01716187909994
-      }
-    },
-    {
-      "Id": "7d18ae7e-7926-4cf4-8dd6-861462e31352",
-      "Type": 4,
-      "P1": {
-        "X": 464.73699705392903,
-        "Y": 450.5171618790999
-      },
-      "P2": {
-        "X": 516.5227113396433,
-        "Y": 402.6600190219571
-      },
-      "ControlPoint": {
-        "X": 516.1655684825004,
-        "Y": 454.44573330767133
-      }
-    },
-    {
-      "Id": "532be14d-170e-45c5-adcf-0d555b83b010",
-      "Type": 4,
-      "P1": {
-        "X": 399.76697627462613,
-        "Y": 521.7210880257198
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-      "P2": {
-        "X": 462.6173982141941,
-        "Y": 449.66152357736206
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-      "ControlPoint": {
-        "X": 391.9923982141941,
-        "Y": 447.16152357736206
-      }
-    },
-    {
-      "Id": "086955e0-0542-4ab5-9ccf-8880e749722a",
-      "Type": 4,
-      "P1": {
-        "X": 399.0526905603404,
-        "Y": 523.5068023114342
-      },
-      "P2": {
-        "X": 400.1113258122239,
-        "Y": 580.622765294022
-      },
-      "ControlPoint": null
-    },
-    {
-      "Id": "2ac7d720-a6df-4174-be74-15ddfe96459b",
-      "Type": 4,
-      "P1": {
-        "X": 353.8613258122239,
-        "Y": 629.3727652940219
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-      "P2": {
-        "X": 400.1113258122239,
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-      "ControlPoint": {
-        "X": 404.4863258122239,
-        "Y": 630.6227652940219
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-    }
-  ],
-  "Marks": [
-    {
-      "Id": "2cb51787-c8cf-4ddb-97f0-b71f519d47dc",
-      "Type": 3,
-      "Position": "520, 690",
-      "X": 520,
-      "Y": 690,
-      "Rotation": -178.01940688369234
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-    {
-      "Id": "f704ebe0-1653-4559-b06f-1eaecafbefba",
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-      "Position": "-74, 624",
-      "X": -74,
-      "Y": 624,
-      "Rotation": 90
-    },
-    {
-      "Id": "d5b27365-79a2-4351-84c3-6767941ec0be",
-      "Type": 3,
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-      "X": 12,
-      "Y": 625,
-      "Rotation": 90
-    },
-    {
-      "Id": "0367cafb-9f85-4440-b6b4-c802a58e6181",
-      "Type": 3,
-      "Position": "91, 625",
-      "X": 91,
-      "Y": 625,
-      "Rotation": 89.2872271068898
-    },
-    {
-      "Id": "1f4ab2c9-07f8-4675-802d-9b4824b55198",
-      "Type": 3,
-      "Position": "183, 622",
-      "X": 183,
-      "Y": 622,
-      "Rotation": 88.40516772072262
-    },
-    {
-      "Id": "15fddfa4-ff74-48ff-b922-4aacdce1960b",
-      "Type": 3,
-      "Position": "275, 269",
-      "X": 275,
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-      "Rotation": 91.71222012905176
-    },
-    {
-      "Id": "4b699847-36d4-471c-b990-4ad37967c2dc",
-      "Type": 3,
-      "Position": "89, 697",
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-      "Y": 697,
-      "Rotation": 0.3824344779617803
-    },
-    {
-      "Id": "a9f68317-f1c2-47d8-b029-348b5428be9f",
-      "Type": 3,
-      "Position": "183, 699",
-      "X": 183,
-      "Y": 699,
-      "Rotation": -1.3380194104322385
-    },
-    {
-      "Id": "fe227205-2a65-4ba9-bb4a-4efb4ed0a7b0",
-      "Type": 3,
-      "Position": "9, 699",
-      "X": 9,
-      "Y": 699,
-      "Rotation": 0.8431103833306963
-    },
-    {
-      "Id": "5dd29191-798c-480c-b066-7947bfcc4fb7",
-      "Type": 3,
-      "Position": "-74, 697",
-      "X": -74,
-      "Y": 697,
-      "Rotation": 1.659829660758831
-    },
-    {
-      "Id": "649729f0-ff04-4e11-8869-f6a39d815427",
-      "Type": 3,
-      "Position": "-71, 596",
-      "X": -71,
-      "Y": 596,
-      "Rotation": 0
-    },
-    {
-      "Id": "2bb9a821-f86b-4190-a182-64abe2c940ed",
-      "Type": 3,
-      "Position": "10, 601",
-      "X": 10,
-      "Y": 601,
-      "Rotation": 0
-    },
-    {
-      "Id": "821598e1-091a-4884-96fe-6ed5f43c4f62",
-      "Type": 3,
-      "Position": "91, 598",
-      "X": 91,
-      "Y": 598,
-      "Rotation": 0
-    },
-    {
-      "Id": "66c1bbee-89a8-45a9-b585-ddfd59768f6b",
-      "Type": 3,
-      "Position": "184, 596",
-      "X": 184,
-      "Y": 596,
-      "Rotation": 0
-    },
-    {
-      "Id": "06a10f46-bda8-4b0f-9e7a-63d66bd2f7e4",
-      "Type": 3,
-      "Position": "381, 355",
-      "X": 381,
-      "Y": 355,
-      "Rotation": 91.24536426676838
-    },
-    {
-      "Id": "835b8982-042b-4e2e-a83b-19b32e55cd5b",
-      "Type": 3,
-      "Position": "519, 550",
-      "X": 519,
-      "Y": 550,
-      "Rotation": 0
-    }
-  ],
-  "Settings": {
-    "BackgroundColorArgb": -14671840,
-    "ShowGrid": false
-  },
-  "CreatedDate": "2025-12-23T04:16:13.079Z",
-  "Version": "1.3"
-}
\ No newline at end of file
diff --git a/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs b/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
index 0b69f12..473de25 100644
--- a/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
+++ b/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_IN.cs
@@ -41,6 +41,17 @@ namespace Project
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //버퍼 노드 여부 확인
+                if (PUB._virtualAGV.CurrentNode.StationType != AGVNavigationCore.Models.StationType.Buffer)
+                {
+                    SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_BUFFERPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 버퍼가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //카트감지
                 if (PUB.NextWorkCmd == ENIGProtocol.AGVCommandHE.PickOnEnter)
diff --git a/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs b/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
index 117b26e..4bbc427 100644
--- a/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
+++ b/HMI/Project/StateMachine/Step/_SM_RUN_BUFFER_OUT.cs
@@ -43,6 +43,17 @@ namespace Project
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //버퍼 노드 여부 확인
+                if (PUB._virtualAGV.CurrentNode.StationType != AGVNavigationCore.Models.StationType.Buffer)
+                {
+                    SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_BUFFERPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 버퍼가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //회전이없다면 오류처리한다.
                 if(PUB._virtualAGV.Turn != AGVNavigationCore.Models.AGVTurn.L90)
diff --git a/HMI/SubProject/tts/App.config b/HMI/TestProject/tts/App.config
similarity index 100%
rename from HMI/SubProject/tts/App.config
rename to HMI/TestProject/tts/App.config
diff --git a/HMI/SubProject/tts/Helper.cs b/HMI/TestProject/tts/Helper.cs
similarity index 100%
rename from HMI/SubProject/tts/Helper.cs
rename to HMI/TestProject/tts/Helper.cs
diff --git a/HMI/SubProject/tts/Program.cs b/HMI/TestProject/tts/Program.cs
similarity index 100%
rename from HMI/SubProject/tts/Program.cs
rename to HMI/TestProject/tts/Program.cs
diff --git a/HMI/SubProject/tts/Properties/AssemblyInfo.cs b/HMI/TestProject/tts/Properties/AssemblyInfo.cs
similarity index 100%
rename from HMI/SubProject/tts/Properties/AssemblyInfo.cs
rename to HMI/TestProject/tts/Properties/AssemblyInfo.cs
diff --git a/HMI/SubProject/tts/Properties/Resources.Designer.cs b/HMI/TestProject/tts/Properties/Resources.Designer.cs
similarity index 100%
rename from HMI/SubProject/tts/Properties/Resources.Designer.cs
rename to HMI/TestProject/tts/Properties/Resources.Designer.cs
diff --git a/HMI/SubProject/tts/Properties/Resources.resx b/HMI/TestProject/tts/Properties/Resources.resx
similarity index 100%
rename from HMI/SubProject/tts/Properties/Resources.resx
rename to HMI/TestProject/tts/Properties/Resources.resx
diff --git a/HMI/SubProject/tts/Properties/Settings.Designer.cs b/HMI/TestProject/tts/Properties/Settings.Designer.cs
similarity index 100%
rename from HMI/SubProject/tts/Properties/Settings.Designer.cs
rename to HMI/TestProject/tts/Properties/Settings.Designer.cs
diff --git a/HMI/SubProject/tts/Properties/Settings.settings b/HMI/TestProject/tts/Properties/Settings.settings
similarity index 100%
rename from HMI/SubProject/tts/Properties/Settings.settings
rename to HMI/TestProject/tts/Properties/Settings.settings
diff --git a/HMI/SubProject/tts/Supertonic.WinForms.csproj b/HMI/TestProject/tts/Supertonic.WinForms.csproj
similarity index 100%
rename from HMI/SubProject/tts/Supertonic.WinForms.csproj
rename to HMI/TestProject/tts/Supertonic.WinForms.csproj
diff --git a/HMI/SubProject/tts/Supertonic.WinForms.sln b/HMI/TestProject/tts/Supertonic.WinForms.sln
similarity index 100%
rename from HMI/SubProject/tts/Supertonic.WinForms.sln
rename to HMI/TestProject/tts/Supertonic.WinForms.sln
diff --git a/HMI/SubProject/tts/fMain.Designer.cs b/HMI/TestProject/tts/fMain.Designer.cs
similarity index 100%
rename from HMI/SubProject/tts/fMain.Designer.cs
rename to HMI/TestProject/tts/fMain.Designer.cs
diff --git a/HMI/SubProject/tts/fMain.cs b/HMI/TestProject/tts/fMain.cs
similarity index 100%
rename from HMI/SubProject/tts/fMain.cs
rename to HMI/TestProject/tts/fMain.cs
diff --git a/HMI/SubProject/tts/fMain.resx b/HMI/TestProject/tts/fMain.resx
similarity index 100%
rename from HMI/SubProject/tts/fMain.resx
rename to HMI/TestProject/tts/fMain.resx