diff --git a/App.tsx b/App.tsx
index 39a2ddc..af3e75c 100644
--- a/App.tsx
+++ b/App.tsx
@@ -4,7 +4,7 @@ import { INITIAL_MAP, MAX_SPEED } from './constants';
 import EditorToolbar from './components/EditorToolbar';
 import SimulationCanvas from './components/SimulationCanvas';
 import SerialConsole from './components/SerialConsole';
-import AgvControls from './components/AgvControls';
+import AgvManualControls from './components/AgvManualControls';
 import BmsPanel from './components/BmsPanel';
 import AcsControls from './components/AcsControls';
 import AgvStatusPanel from './components/AgvStatusPanel';
@@ -1326,16 +1326,15 @@ const App: React.FC = () => {
 
                 {/* Top: Controls (Scrollable if needed) */}
                 <div className="flex-1 overflow-y-auto">
-                    <AgvControls
+                    {/* Manual Controls */}
+                    <AgvManualControls
                         agvState={agvState}
-                        setMotion={(m) => setAgvState(s => ({ ...s, motionState: m }))}
-                        setLift={(h) => setAgvState(s => ({ ...s, liftHeight: h }))}
-                        setRunConfig={(c) => setAgvState(s => ({ ...s, runConfig: c }))}
-                        setError={(e) => setAgvState(s => ({ ...s, error: e }))}
+                        setMotion={(state) => setAgvState(s => ({ ...s, motionState: state }))}
+                        setRunConfig={(config) => setAgvState(s => ({ ...s, runConfig: config }))}
+                        setError={(err) => setAgvState(s => ({ ...s, error: err }))}
                         onTurn180={handleTurn180}
-                        setMagnet={(isOn) => setAgvState(s => ({ ...s, magnetOn: isOn }))}
                         setLiftStatus={(status) => setAgvState(s => ({ ...s, liftStatus: status }))}
-                        setLidar={(isOn) => setAgvState(s => ({ ...s, lidarEnabled: isOn, sensorStatus: isOn ? '1' : '0' }))}
+                        setMagnet={(isOn) => setAgvState(s => ({ ...s, magnetOn: isOn }))}
                     />
                 </div>
 
diff --git a/components/AgvControls.tsx b/components/AgvControls.tsx
deleted file mode 100644
index 5c34527..0000000
--- a/components/AgvControls.tsx
+++ /dev/null
@@ -1,145 +0,0 @@
-
-import React from 'react';
-import { StopCircle, Play, Square, AlertTriangle, ChevronsUp, ChevronsDown, Magnet, Radar, ArrowLeft, ArrowRight } from 'lucide-react';
-import { AgvState, AgvMotionState, AgvRunConfig } from '../types';
-import AgvManualControls from './AgvManualControls';
-
-
-interface AgvControlsProps {
-  agvState: AgvState;
-  setMotion: (state: AgvMotionState) => void;
-  setLift: (val: number) => void;
-  setRunConfig: (config: AgvRunConfig) => void;
-  setError: (error: string | null) => void;
-  onTurn180: (direction: 'LEFT' | 'RIGHT') => void;
-  setMagnet: (isOn: boolean) => void;
-  setLiftStatus: (status: 'IDLE' | 'UP' | 'DOWN') => void;
-  setLidar: (isOn: boolean) => void;
-}
-
-const AgvControls: React.FC<AgvControlsProps> = ({ agvState, setMotion, setLift, setRunConfig, setError, onTurn180, setMagnet, setLiftStatus, setLidar }) => {
-  const isRunning = agvState.motionState === AgvMotionState.RUNNING || agvState.motionState === AgvMotionState.MARK_STOPPING;
-  const isError = agvState.error !== null;
-
-  const updateRunConfig = (key: keyof AgvRunConfig, value: any) => {
-    if (isError) return;
-    setRunConfig({
-      ...agvState.runConfig,
-      [key]: value
-    });
-  };
-
-
-
-  const handleMarkStop = () => {
-    if (agvState.motionState === AgvMotionState.RUNNING) {
-      setRunConfig({
-        ...agvState.runConfig,
-        speedLevel: 'L'
-      });
-      setMotion(AgvMotionState.MARK_STOPPING);
-    }
-  };
-
-  const resetError = () => {
-    setError(null);
-  };
-
-  const handleLiftSliderChange = (e: React.ChangeEvent<HTMLInputElement>) => {
-    if (agvState.liftStatus !== 'IDLE') {
-      setLiftStatus('IDLE');
-    }
-    setLift(parseInt(e.target.value));
-  };
-
-  return (
-    <div className="flex flex-col gap-4 p-3 bg-gray-900 border-b border-gray-700">
-
-      {/* Error Overlay */}
-      {isError && (
-        <div className="bg-red-900/80 border border-red-600 p-3 rounded text-center animate-pulse">
-          <div className="text-red-100 font-bold text-sm flex items-center justify-center gap-2 mb-2">
-            <AlertTriangle size={18} />
-            {agvState.error}
-          </div>
-          <button onClick={resetError} className="bg-red-600 hover:bg-red-500 text-white text-xs font-bold px-3 py-1 rounded shadow-sm">
-            RESET ERROR
-          </button>
-        </div>
-      )}
-
-      {/* Manual Operation (분리된 콤포넌트) */}
-      <AgvManualControls
-        agvState={agvState}
-        setMotion={setMotion}
-        updateRunConfig={updateRunConfig}
-        onTurn180={onTurn180}
-        handleMarkStop={handleMarkStop}
-        isRunning={isRunning}
-        isError={isError}
-      />
-
-      {/* Lift & Magnet */}
-      <div className={`px-1 ${isError ? 'opacity-50 pointer-events-none' : ''}`}>
-        <div className="flex justify-between text-xs text-gray-400 mb-1">
-          <span className="flex items-center gap-1"><ChevronsUp size={12} /> Lift Height</span>
-          <span className="font-mono text-white">{Math.round(agvState.liftHeight)}%</span>
-        </div>
-
-        <div className="flex items-center gap-2 mb-2">
-          <button
-            onClick={() => setLiftStatus('DOWN')}
-            disabled={agvState.liftHeight === 0}
-            className={`p-1.5 rounded disabled:opacity-30 transition-colors ${agvState.liftStatus === 'DOWN'
-              ? 'bg-blue-600 text-white shadow-[0_0_10px_rgba(37,99,235,0.5)]'
-              : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
-              }`}
-            title="Lower Lift"
-          >
-            <ChevronsDown size={16} />
-          </button>
-
-          <input
-            type="range"
-            min="0"
-            max="100"
-            value={agvState.liftHeight}
-            onChange={handleLiftSliderChange}
-            className="flex-1 h-1.5 bg-gray-700 rounded-lg appearance-none cursor-pointer accent-blue-500"
-          />
-
-          <button
-            onClick={() => setLiftStatus('UP')}
-            disabled={agvState.liftHeight === 100}
-            className={`p-1.5 rounded disabled:opacity-30 transition-colors ${agvState.liftStatus === 'UP'
-              ? 'bg-blue-600 text-white shadow-[0_0_10px_rgba(37,99,235,0.5)]'
-              : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
-              }`}
-            title="Raise Lift"
-          >
-            <ChevronsUp size={16} />
-          </button>
-        </div>
-
-        <button
-          onClick={() => setMagnet(!agvState.magnetOn)}
-          className={`w-full py-1.5 text-xs rounded border flex items-center justify-center gap-2 transition-colors ${agvState.magnetOn
-            ? 'bg-orange-600 text-white border-orange-500'
-            : 'bg-gray-800 text-gray-400 border-gray-600 hover:bg-gray-700'
-            }`}
-        >
-          <Magnet size={14} className={agvState.magnetOn ? "animate-pulse" : ""} />
-          MAGNET {agvState.magnetOn ? 'ON' : 'OFF'}
-        </button>
-      </div>
-
-      <div className="h-px bg-gray-800" />
-
-      {/* Auto Run Controls */}
-      {/* Auto Run Controls (분리된 콤포넌트) */}
-
-    </div>
-  );
-};
-
-export default AgvControls;
diff --git a/components/AgvManualControls.tsx b/components/AgvManualControls.tsx
index bbaa07c..de726b6 100644
--- a/components/AgvManualControls.tsx
+++ b/components/AgvManualControls.tsx
@@ -1,27 +1,51 @@
 
 import React from 'react';
-import { ArrowUp, ArrowDown, RotateCcw, RotateCw, StopCircle, Disc } from 'lucide-react';
+import { ArrowUp, ArrowDown, RotateCcw, RotateCw, StopCircle, Disc, ChevronsUp, ChevronsDown, Magnet, AlertTriangle } from 'lucide-react';
 import { AgvState, AgvMotionState, AgvRunConfig } from '../types';
 
 interface AgvManualControlsProps {
   agvState: AgvState;
   setMotion: (state: AgvMotionState) => void;
-  updateRunConfig: (key: keyof AgvRunConfig, value: any) => void;
+  setRunConfig: (config: AgvRunConfig) => void;
+  setError: (error: string | null) => void;
   onTurn180: (direction: 'LEFT' | 'RIGHT') => void;
-  handleMarkStop: () => void;
-  isRunning: boolean;
-  isError: boolean;
+  setLiftStatus: (status: 'IDLE' | 'UP' | 'DOWN') => void;
+  setMagnet: (isOn: boolean) => void;
 }
 
 const AgvManualControls: React.FC<AgvManualControlsProps> = ({
   agvState,
   setMotion,
-  updateRunConfig,
+  setRunConfig,
+  setError,
   onTurn180,
-  handleMarkStop,
-  isRunning,
-  isError,
+  setLiftStatus,
+  setMagnet,
 }) => {
+  const isRunning = agvState.motionState === AgvMotionState.RUNNING || agvState.motionState === AgvMotionState.MARK_STOPPING;
+  const isError = agvState.error !== null;
+
+  const updateRunConfig = (key: keyof AgvRunConfig, value: any) => {
+    if (isError) return;
+    setRunConfig({
+      ...agvState.runConfig,
+      [key]: value
+    });
+  };
+
+  const handleMarkStop = () => {
+    if (agvState.motionState === AgvMotionState.RUNNING) {
+      setRunConfig({
+        ...agvState.runConfig,
+        speedLevel: 'L'
+      });
+      setMotion(AgvMotionState.MARK_STOPPING);
+    }
+  };
+
+  const resetError = () => {
+    setError(null);
+  };
   const setManualMotion = (motion: AgvMotionState, direction?: 'FWD' | 'BWD') => {
     setMotion(motion);
     if (direction) {
@@ -30,86 +54,141 @@ const AgvManualControls: React.FC<AgvManualControlsProps> = ({
   };
 
   return (
-    <div className={`${isError ? 'opacity-50 pointer-events-none' : ''}`}>
-      <div className="flex justify-between items-center mb-2 px-1">
-        <h3 className="text-xs font-bold text-gray-400 uppercase tracking-wider">Manual Operation</h3>
-      </div>
 
-      <div className="bg-gray-800 rounded-lg p-3 border border-gray-700 shadow-inner">
-        <div className="grid grid-cols-3 gap-2 mb-3">
-          <div />
-          <button
-            disabled={isRunning}
-            onMouseDown={() => setManualMotion(AgvMotionState.FORWARD, 'FWD')}
-            onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
-            className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
-          >
-            <ArrowUp size={24} />
-          </button>
-          <div />
+    <div className="flex flex-col gap-4 p-3 bg-gray-900 border-b border-gray-700">
 
-          <button
-            disabled={isRunning}
-            onMouseDown={() => setManualMotion(AgvMotionState.TURN_LEFT)}
-            onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
-            className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
-          >
-            <RotateCcw size={20} />
-          </button>
-          <button
-            onClick={() => setManualMotion(AgvMotionState.IDLE)}
-            className="h-10 bg-red-800 hover:bg-red-700 rounded flex items-center justify-center text-white shadow"
-          >
-            <StopCircle size={24} />
-          </button>
-          <button
-            disabled={isRunning}
-            onMouseDown={() => setManualMotion(AgvMotionState.TURN_RIGHT)}
-            onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
-            className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
-          >
-            <RotateCw size={20} />
+      {/* Error Overlay */}
+      {isError && (
+        <div className="bg-red-900/80 border border-red-600 p-3 rounded text-center animate-pulse">
+          <div className="text-red-100 font-bold text-sm flex items-center justify-center gap-2 mb-2">
+            <AlertTriangle size={18} />
+            {agvState.error}
+          </div>
+          <button onClick={resetError} className="bg-red-600 hover:bg-red-500 text-white text-xs font-bold px-3 py-1 rounded shadow-sm">
+            RESET ERROR
           </button>
+        </div>
+      )}
 
-          <div />
-          <button
-            disabled={isRunning}
-            onMouseDown={() => setManualMotion(AgvMotionState.BACKWARD, 'BWD')}
-            onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
-            className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
-          >
-            <ArrowDown size={24} />
-          </button>
-          <div />
+      <div className={`${isError ? 'opacity-50 pointer-events-none' : ''}`}>
+        <div className="flex justify-between items-center mb-2 px-1">
+          <h3 className="text-xs font-bold text-gray-400 uppercase tracking-wider">Manual Operation</h3>
         </div>
 
-        {/* Extra Actions */}
-        <div className="grid grid-cols-2 gap-2">
-          <button
-            disabled={isRunning}
-            onClick={() => onTurn180('LEFT')}
-            className="text-xs py-1.5 bg-gray-700 rounded hover:bg-gray-600 flex items-center justify-center gap-1 disabled:opacity-30 shadow-sm"
-          >
-            <RotateCcw size={12} /> L-Turn 180
-          </button>
-          <button
-            disabled={isRunning}
-            onClick={() => onTurn180('RIGHT')}
-            className="text-xs py-1.5 bg-gray-700 rounded hover:bg-gray-600 flex items-center justify-center gap-1 disabled:opacity-30 shadow-sm"
-          >
-            <RotateCw size={12} /> R-Turn 180
-          </button>
-          <button
-            disabled={!isRunning || agvState.motionState === AgvMotionState.MARK_STOPPING}
-            onClick={handleMarkStop}
-            className={`col-span-2 text-xs py-1.5 border rounded flex items-center justify-center gap-1 shadow-sm transition-colors disabled:opacity-30 ${
-              agvState.motionState === AgvMotionState.MARK_STOPPING
+        <div className="bg-gray-800 rounded-lg p-3 border border-gray-700 shadow-inner">
+          <div className="grid grid-cols-3 gap-2 mb-3">
+            <button
+              onClick={() => setLiftStatus('UP')}
+              disabled={agvState.liftHeight === 100}
+              className={`h-10 rounded flex items-center justify-center transition-colors shadow ${agvState.liftStatus === 'UP'
+                ? 'bg-blue-600 text-white'
+                : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
+                }`}
+            >
+              <ChevronsUp size={20} />
+            </button>
+            <button
+              disabled={isRunning}
+              onMouseDown={() => setManualMotion(AgvMotionState.FORWARD, 'FWD')}
+              onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
+              className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
+            >
+              <ArrowUp size={24} />
+            </button>
+            <button
+              onClick={() => setMagnet(true)}
+              disabled={agvState.magnetOn}
+              className={`h-10 rounded flex items-center justify-center transition-colors shadow ${agvState.magnetOn
+                ? 'bg-orange-600 text-white opacity-50 cursor-not-allowed'
+                : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
+                }`}
+            >
+              <Magnet size={20} />
+            </button>
+
+            <button
+              disabled={isRunning}
+              onMouseDown={() => setManualMotion(AgvMotionState.TURN_LEFT)}
+              onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
+              className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
+            >
+              <RotateCcw size={20} />
+            </button>
+            <button
+              onClick={() => setManualMotion(AgvMotionState.IDLE)}
+              className="h-10 bg-red-800 hover:bg-red-700 rounded flex items-center justify-center text-white shadow"
+            >
+              <StopCircle size={24} />
+            </button>
+            <button
+              disabled={isRunning}
+              onMouseDown={() => setManualMotion(AgvMotionState.TURN_RIGHT)}
+              onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
+              className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
+            >
+              <RotateCw size={20} />
+            </button>
+
+            <button
+              onClick={() => setLiftStatus('DOWN')}
+              disabled={agvState.liftHeight === 0}
+              className={`h-10 rounded flex items-center justify-center transition-colors shadow ${agvState.liftStatus === 'DOWN'
+                ? 'bg-blue-600 text-white'
+                : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
+                }`}
+            >
+              <ChevronsDown size={20} />
+            </button>
+            <button
+              disabled={isRunning}
+              onMouseDown={() => setManualMotion(AgvMotionState.BACKWARD, 'BWD')}
+              onMouseUp={() => setManualMotion(AgvMotionState.IDLE)}
+              className="h-10 bg-gray-700 hover:bg-gray-600 rounded flex items-center justify-center active:bg-blue-600 disabled:opacity-30 transition-colors shadow"
+            >
+              <ArrowDown size={24} />
+            </button>
+            <button
+              onClick={() => setMagnet(false)}
+              disabled={!agvState.magnetOn}
+              className={`h-10 rounded flex items-center justify-center transition-colors shadow relative ${!agvState.magnetOn
+                ? 'bg-gray-600 text-gray-500 cursor-not-allowed opacity-50'
+                : 'bg-gray-700 hover:bg-gray-600 text-gray-300'
+                }`}
+            >
+              <Magnet size={20} />
+              <div className="absolute inset-0 flex items-center justify-center pointer-events-none">
+                <div className="w-6 h-0.5 bg-red-500 rotate-45 transform origin-center"></div>
+              </div>
+            </button>
+          </div>
+
+          {/* Extra Actions */}
+          <div className="grid grid-cols-2 gap-2">
+            <button
+              disabled={isRunning}
+              onClick={() => onTurn180('LEFT')}
+              className="text-xs py-1.5 bg-gray-700 rounded hover:bg-gray-600 flex items-center justify-center gap-1 disabled:opacity-30 shadow-sm"
+            >
+              <RotateCcw size={12} /> L-Turn 180
+            </button>
+            <button
+              disabled={isRunning}
+              onClick={() => onTurn180('RIGHT')}
+              className="text-xs py-1.5 bg-gray-700 rounded hover:bg-gray-600 flex items-center justify-center gap-1 disabled:opacity-30 shadow-sm"
+            >
+              <RotateCw size={12} /> R-Turn 180
+            </button>
+            <button
+              disabled={!isRunning || agvState.motionState === AgvMotionState.MARK_STOPPING}
+              onClick={handleMarkStop}
+              className={`col-span-2 text-xs py-1.5 border rounded flex items-center justify-center gap-1 shadow-sm transition-colors disabled:opacity-30 ${agvState.motionState === AgvMotionState.MARK_STOPPING
                 ? 'bg-yellow-600 text-black border-yellow-500 font-bold'
                 : 'bg-yellow-900/50 text-yellow-200 border-yellow-800/50 hover:bg-yellow-900/70'
-            }`}
-          >
-            <Disc size={12} /> {agvState.motionState === AgvMotionState.MARK_STOPPING ? 'Stopping at Mark...' : 'Drive to Next Mark'}
-          </button>
+                }`}
+            >
+              <Disc size={12} /> {agvState.motionState === AgvMotionState.MARK_STOPPING ? 'Stopping at Mark...' : 'Drive to Next Mark'}
+            </button>
+          </div>
         </div>
       </div>
     </div>