..

Cs_HMI/Project/StateMachine/Step/_Util.cs

@@ -244,7 +244,7 @@ namespace Project
                         PBSSensor = 1,
                         Speed = arDev.Narumi.eMoveSpd.Low,
                     });
-                    PUB.AGV.AGVMoveRun();//
+                    PUB.AGV.AGVMoveRun( arDev.Narumi.eRunOpt.Forward);//
                     tm_gocharge_command = DateTime.Now;
                 }
             }
@@ -265,7 +265,13 @@ namespace Project
                         PUB.AGV.error.Emergency == false &&
                         PUB.AGV.system1.agv_run == false)
                     {
-                        //PUB.PLC.Move(Device.PLC.Rundirection.Backward, "UpdateMotionPosition #1(" + sender + ")");
+                        PUB.AGV.AGVMoveSet(new arDev.Narumi.BunkiData
+                        {
+                            Bunki = arDev.Narumi.eBunki.Strate,
+                            Direction = arDev.Narumi.eMoveDir.Backward,
+                            PBSSensor = 1,
+                            Speed = arDev.Narumi.eMoveSpd.Low,
+                        });
                         PUB.AGV.AGVMoveRun(arDev.Narumi.eRunOpt.Backward);//
                         LastCommandTime = DateTime.Now;
                     }