속도레벨을 기본 m->l 로 변경, 턴이되어있다면 오류로 처리한다.

AGVLogic/AGVNavigationCore/Models/MapNode.cs

@@ -74,7 +74,7 @@ namespace AGVNavigationCore.Models
 
         [Category("주행 설정")]
         [Description("노드 통과 시 제한 속도입니다.")]
-        public SpeedLevel SpeedLimit { get; set; } = SpeedLevel.M;
+        public SpeedLevel SpeedLimit { get; set; } = SpeedLevel.L;
 
         [Category("노드 설정")]
         [Description("장비 ID 또는 별칭입니다.")]

HMI/Project/StateMachine/_Xbee.cs

@@ -178,6 +178,14 @@ namespace Project
                         {
                             Resultclear();
                             PUB.log.AddI($"XBEE:충전명령수신");
+
+                            // 버퍼 작업 중일 경우 충전 명령 거부
+                            if (PUB._virtualAGV.Turn != AGVTurn.None)
+                            {
+                                SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-Charger] 버퍼 작업이 완료되지 않아 충전할 수 없습니다.");
+                                return;
+                            }
+
                             PUB.NextWorkCmd = ENIGProtocol.AGVCommandHE.Charger;
                             PUB.sm.SetNewRunStep(ERunStep.GOCHARGE);
                         }
@@ -226,7 +234,7 @@ namespace Project
                                 //s/w턴이 걸려있다면 이동 불가로한다.(버퍼 작업중이다)
                                 if (PUB._virtualAGV.Turn != AGVTurn.None)
                                 {
-                                    SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-Goto] 버퍼작업이 완료되지 않았습니다");
+                                    SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-Goto] 버퍼 작업이 완료되지 않았습니다({PUB._virtualAGV.Turn})");
                                     return;
                                 }
 
@@ -265,25 +273,42 @@ namespace Project
                         break;
 
                     case ENIGProtocol.AGVCommandHE.LTurn180:
-                        PUB.log.Add($"[{logPrefix}-LTurn180]");
-                        PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
-                        PUB.AGV.AGVMoveLeft180Turn();
-                        break;
                     case ENIGProtocol.AGVCommandHE.RTurn180:
-                        PUB.log.Add($"[{logPrefix}-RTurn180]");
-                        PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
-                        PUB.AGV.AGVMoveRight180Turn();
-                        break;
-
                     case ENIGProtocol.AGVCommandHE.LTurn:
-                        PUB.log.Add($"[{logPrefix}-LTurn]");
-                        PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
-                        PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
-                        break;
                     case ENIGProtocol.AGVCommandHE.RTurn:
-                        PUB.log.Add($"[{logPrefix}-RTurn]");
+                        {
-                        PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
+                            // 버퍼 작업 중일 경우 원격 턴 명령 거부
-                        PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
+                            if (PUB._virtualAGV.Turn != AGVTurn.None)
+                            {
+                                SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-{cmd}] 버퍼 작업 중에는 턴 명령을 수행할 수 없습니다.");
+                                return;
+                            }
+
+                            if (cmd == ENIGProtocol.AGVCommandHE.LTurn180)
+                            {
+                                PUB.log.Add($"[{logPrefix}-LTurn180]");
+                                PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
+                                PUB.AGV.AGVMoveLeft180Turn();
+                            }
+                            else if (cmd == ENIGProtocol.AGVCommandHE.RTurn180)
+                            {
+                                PUB.log.Add($"[{logPrefix}-RTurn180]");
+                                PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
+                                PUB.AGV.AGVMoveRight180Turn();
+                            }
+                            else if (cmd == ENIGProtocol.AGVCommandHE.LTurn)
+                            {
+                                PUB.log.Add($"[{logPrefix}-LTurn]");
+                                PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
+                                PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.LT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
+                            }
+                            else if (cmd == ENIGProtocol.AGVCommandHE.RTurn)
+                            {
+                                PUB.log.Add($"[{logPrefix}-RTurn]");
+                                PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
+                                PUB.AGV.AGVMoveManual(arDev.Narumi.ManulOpt.RT, arDev.Narumi.Speed.Low, arDev.Narumi.Sensor.AllOn);
+                            }
+                        }
                         break;
                     case ENIGProtocol.AGVCommandHE.Stop:  //stop
                         PUB.log.Add($"[{logPrefix}-Stop]");
@@ -296,6 +321,14 @@ namespace Project
 
                     case ENIGProtocol.AGVCommandHE.Manual: //Manual Move (Direction, speed, runtime)
                         Resultclear();
+
+                        // 버퍼 작업 중일 경우 수동 이동 거부
+                        if (PUB._virtualAGV.Turn != AGVTurn.None)
+                        {
+                            SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-Manual] 버퍼 작업 중에는 수동 이동을 할 수 없습니다.");
+                            return;
+                        }
+
                         PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
                         var Direction = data[1];     //0=back, 1=forward, 2=left, 3=right
                         var Speed = data[2];         //0=slow, 1=normal, 2=fast
@@ -318,6 +351,14 @@ namespace Project
 
                     case ENIGProtocol.AGVCommandHE.AutoMove:
                         Resultclear();
+
+                        // 버퍼 작업 중일 경우 자동 이동 거부
+                        if (PUB._virtualAGV.Turn != AGVTurn.None)
+                        {
+                            SetRunStepError(ENIGProtocol.AGVErrorCode.BUFFER_NOT_COMPLETE, $"[{logPrefix}-AutoMove] 버퍼 작업 중에는 이동할 수 없습니다.");
+                            return;
+                        }
+
                         PUB.sm.SetNewRunStep(ERunStep.REMOTECONTROL);
                         var MotDirection = data[1];     //0=back, 1=forward
                         var MagDirection = data[2];     //0=straight, 1=left, 2=right

HMI/SubProject/AGV/Narumi.cs

@@ -323,11 +323,6 @@ namespace arDev
 
         #endregion
 
-
-
-
-
-
         #region [수신] TAG(태그정보) 분석
 
         System.Text.Encoding encoding = System.Text.Encoding.Default;
@@ -357,7 +352,6 @@ namespace arDev
                         old_TagString = tagnostr;
                         DataReceive?.Invoke(this, new DataEventArgs(DataType.TAG));
                     }
-                    
                 }
 
                 WriteData(MakeCheckSum("ACKTAG"));

NewMap.json

@@ -156,7 +156,7 @@
       "CanTurnLeft": false,
       "CanTurnRight": false,
       "DisableCross": false,
-      "SpeedLimit": 0,
+      "SpeedLimit": 1,
       "AliasName": "",
       "IsActive": true,
       "RfidId": 9,
@@ -180,7 +180,7 @@
       "CanTurnLeft": false,
       "CanTurnRight": false,
       "DisableCross": false,
-      "SpeedLimit": 0,
+      "SpeedLimit": 1,
       "AliasName": "",
       "IsActive": true,
       "RfidId": 8,
@@ -208,7 +208,7 @@
       "CanTurnLeft": false,
       "CanTurnRight": false,
       "DisableCross": false,
-      "SpeedLimit": 0,
+      "SpeedLimit": 1,
       "AliasName": "",
       "IsActive": true,
       "RfidId": 7,
@@ -279,7 +279,7 @@
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "SpeedLimit": 1,
+      "SpeedLimit": 0,
       "AliasName": "",
       "IsActive": true,
       "RfidId": 91,
@@ -303,7 +303,7 @@
       "CanTurnLeft": false,
       "CanTurnRight": false,
       "DisableCross": false,
-      "SpeedLimit": 1,
+      "SpeedLimit": 0,
       "AliasName": "BUFFER5",
       "IsActive": true,
       "RfidId": 35,
@@ -327,7 +327,7 @@
       "CanTurnLeft": false,
       "CanTurnRight": false,
       "DisableCross": false,
-      "SpeedLimit": 1,
+      "SpeedLimit": 0,
       "AliasName": "BUFFER6",
       "IsActive": true,
       "RfidId": 36,
@@ -355,7 +355,7 @@
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "SpeedLimit": 1,
+      "SpeedLimit": 0,
       "AliasName": "TURN",
       "IsActive": true,
       "RfidId": 3,
@@ -461,7 +461,7 @@
       "CanTurnLeft": false,
       "CanTurnRight": false,
       "DisableCross": true,
-      "SpeedLimit": 1,
+      "SpeedLimit": 0,
       "AliasName": "",
       "IsActive": true,
       "RfidId": 20,
@@ -790,6 +790,6 @@
     "BackgroundColorArgb": -14671840,
     "ShowGrid": false
   },
-  "CreatedDate": "2026-02-25T11:11:11.6577105+09:00",
+  "CreatedDate": "2026-02-26T09:50:44.0545961+09:00",
   "Version": "1.3"
 }