diff --git a/AGVLogic/EnigProtocol/enigprotocol/Commands.cs b/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
index a4ac3fb..b846ce9 100644
--- a/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
+++ b/AGVLogic/EnigProtocol/enigprotocol/Commands.cs
@@ -74,6 +74,7 @@ namespace ENIGProtocol
         MARK_STOP_FAIL,
         LIDAR_STOP,
         NOT_BUFFERPOINT,
+        NOT_EQUIPMENTPOINT,
     }
 
     public static class AGVUtility
@@ -111,6 +112,7 @@ namespace ENIGProtocol
                 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";
+                case AGVErrorCode.NOT_EQUIPMENTPOINT: return "현재 위치가 장비 노드가 아닙니다";
                 default: return ecode.ToString();
             }
         }
diff --git a/HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_ON.cs b/HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_ON.cs
index 0ab3b00..93b28af 100644
--- a/HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_ON.cs
+++ b/HMI/Project/StateMachine/Step/_SM_RUN_CHARGE_ON.cs
@@ -54,7 +54,6 @@ namespace Project
                 return false;
             }
 
-
             var idx = 1;
             if (PUB.sm.RunStepSeq == idx++)
             {
diff --git a/HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs b/HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
index ff8aa1e..e585682 100644
--- a/HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
+++ b/HMI/Project/StateMachine/Step/_SM_RUN_ENTER.cs
@@ -36,6 +36,19 @@ namespace Project
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //장비 노드 여부 확인 (버퍼가 아닌 도킹 가능 노드여야 함)
+                if (PUB._virtualAGV.CurrentNode.StationType != StationType.Loader &&
+                    PUB._virtualAGV.CurrentNode.StationType != StationType.Clearner &&
+                    PUB._virtualAGV.CurrentNode.StationType != StationType.UnLoader)
+                {
+                    SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_EQUIPMENTPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 장비 노드가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //마크센서가 감지된상태여야 완전한위치로 가정한다
                 if (PUB.AGV.signal1.mark_sensor == false)
@@ -126,7 +139,7 @@ namespace Project
                     {
                         if (seqTime.TotalSeconds > 5)
                         {
-                            if(VAR.I32[eVarInt32.RetryManget] < 3)
+                            if (VAR.I32[eVarInt32.RetryManget] < 3)
                             {
                                 PUB.sm.UpdateRunStepSeq(-1);
                             }
@@ -136,7 +149,7 @@ namespace Project
                                 SetRunStepError(ENIGProtocol.AGVErrorCode.MAGNET_ON_ERROR, errmsg);
                                 VAR.I32[eVarInt32.RetryManget] = 0;
                             }
-                            
+
                         }
                         return false;
                     }
diff --git a/HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs b/HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
index 0480bbd..83a173b 100644
--- a/HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
+++ b/HMI/Project/StateMachine/Step/_SM_RUN_EXIT.cs
@@ -37,6 +37,19 @@ namespace Project
                 return false;
             }
             else if (PUB.sm.RunStepSeq == idx++)
+            {
+                //장비 노드 여부 확인 (버퍼가 아닌 도킹 가능 노드여야 함)
+                if (PUB._virtualAGV.CurrentNode.StationType != StationType.Loader &&
+                    PUB._virtualAGV.CurrentNode.StationType != StationType.Clearner &&
+                    PUB._virtualAGV.CurrentNode.StationType != StationType.UnLoader)
+                {
+                    SetRunStepError(ENIGProtocol.AGVErrorCode.NOT_EQUIPMENTPOINT, $"[{funcname}-{PUB.sm.RunStepSeq}] 현재 위치가 장비 노드가 아닙니다({PUB._virtualAGV.CurrentNode.StationType})");
+                    return false;
+                }
+                PUB.sm.UpdateRunStepSeq();
+                return false;
+            }
+            else if (PUB.sm.RunStepSeq == idx++)
             {
                 //작업형태에 따라서. 리프트를 제어한다.
                 var liftCmd = LiftCommand.DN;