From 08aed62c9422e9fa0ef52611b809fb3a1fab4056 Mon Sep 17 00:00:00 2001
From: RnD_Welder <RnD_Welder>
Date: Tue, 14 Apr 2026 11:12:27 +0900
Subject: [PATCH] =?UTF-8?q?feat:=EC=8A=A4=ED=85=8C=EC=9D=B4=EC=A7=80?=
 =?UTF-8?q?=EB=AA=A8=ED=84=B0=5FZ=EC=B6=95=20=EC=B6=94=EA=B0=80=20(?=
 =?UTF-8?q?=EC=82=AC=EC=9A=A9=20=ED=99=95=EC=9D=B8=20=EC=99=84=EB=A3=8C)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../Recipes/RMSHandlerForScanner.cs           |   1 +
 .../Views/Manual/ACS/Stage/UCStageManual.xaml |  10 +-
 .../Manual/ACS/Stage/UCStageMotorMoving.xaml  | 315 ++++++++++++++++++
 .../ACS/Stage/UCStageMotorMoving.xaml.cs      | 112 +++++++
 .../ACS/Stage/UCStageMotorMovingViewModel.cs  | 315 ++++++++++++++++++
 .../WeldingCommon/WeldingCommon.csproj        |   8 +
 6 files changed, 760 insertions(+), 1 deletion(-)
 create mode 100644 WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml
 create mode 100644 WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml.cs
 create mode 100644 WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMovingViewModel.cs

diff --git a/Machines/ILSOS_PrismaticScanner/Recipes/RMSHandlerForScanner.cs b/Machines/ILSOS_PrismaticScanner/Recipes/RMSHandlerForScanner.cs
index a165c12..d156da2 100644
--- a/Machines/ILSOS_PrismaticScanner/Recipes/RMSHandlerForScanner.cs
+++ b/Machines/ILSOS_PrismaticScanner/Recipes/RMSHandlerForScanner.cs
@@ -171,6 +171,7 @@ namespace ILSOS_PrismaticScanner.Recipes
 
         private void ApplyParamToReport(ScannerParam param, int parameterNo)
         {
+            // 26.04.14 확인용 
             // 모델 -> Report (Value = )
             getReportData($"RecipeNo").Value = _aurora.RecipeManager.ActivatedRecipe().Id;
             getReportData($"{nameof(param.MarkSpeed)}_{parameterNo}").Value = param.MarkSpeed;
diff --git a/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageManual.xaml b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageManual.xaml
index ceaa081..208282c 100644
--- a/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageManual.xaml
+++ b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageManual.xaml
@@ -51,7 +51,7 @@
         </Grid.RowDefinitions>
 
         <!-- ── Stage X Motion (JOG / ABS) ── -->
-        <GroupBox Grid.Row="0" Grid.RowSpan="2" Grid.Column="0" Margin="5">
+        <GroupBox Visibility="Collapsed" Grid.Row="0" Grid.RowSpan="2" Grid.Column="0" Margin="5">
             <GroupBox.Header>
                 <TextBlock Text="Stage X Motion" FontSize="20" FontWeight="Bold" Foreground="RoyalBlue"/>
             </GroupBox.Header>
@@ -105,6 +105,14 @@
             </Grid>
         </GroupBox>
 
+        <!-- Stage X Y -->
+        <GroupBox Grid.Row="0" Grid.RowSpan="2" Grid.Column="0" Margin="5">
+            <GroupBox.Header>
+                <TextBlock Text="Stage X Y Motion" FontSize="20" FontWeight="Bold" Foreground="RoyalBlue"/>
+            </GroupBox.Header>
+            <local:UCStageMotorMoving/>
+        </GroupBox>
+        
         <!-- ── Motor Status ── -->
         <GroupBox Grid.Row="0" Grid.Column="1" Grid.ColumnSpan="2" Margin="5">
             <GroupBox.Header>
diff --git a/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml
new file mode 100644
index 0000000..7fce3d1
--- /dev/null
+++ b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml
@@ -0,0 +1,315 @@
+<UserControl x:Class="WeldingCommon.Views.ACS.UCStageMotorMoving"
+        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+        xmlns:local="clr-namespace:WeldingCommon.Views.ACS"
+        xmlns:usercontrols="clr-namespace:AuroraUIComponent.UserControls;assembly=AuroraUIComponent"
+        xmlns:conv="clr-namespace:AuroraUIComponent.UIConverter;assembly=AuroraUIComponent"
+        xmlns:acs="clr-namespace:AuroraACS;assembly=AuroraACS"
+        xmlns:YAxisType="clr-namespace:WeldingCommon"
+        xmlns:dev="clr-namespace:Aurora.Api.Devices;assembly=Aurora"
+        xmlns:i="http://schemas.microsoft.com/xaml/behaviors"
+        d:DataContext="{d:DesignInstance Type=local:UCStageMotorMovingViewModel}"
+        x:Name="ucs"
+        mc:Ignorable="d">
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <Style x:Key="StTBMonitorName" TargetType="TextBlock">
+                <Setter Property="VerticalAlignment" Value="Top"/>
+                <Setter Property="Foreground" Value="White"/>
+                <Setter Property="FontSize" Value="10"/>
+                <Setter Property="FontWeight" Value="Bold"/>
+                <Setter Property="HorizontalAlignment" Value="Right"/>
+                <Setter Property="Margin" Value="5 0"/>
+            </Style>
+            <Style x:Key="StTBPosition" TargetType="TextBlock">
+                <Setter Property="VerticalAlignment" Value="Center"/>
+                <Setter Property="HorizontalAlignment" Value="Center"/>
+                <Setter Property="FontWeight" Value="Bold"/>
+                <Setter Property="FontSize" Value="24"/>
+                <Setter Property="Padding" Value="5 5 5 7"/>
+                <Setter Property="Foreground" Value="#A50034"/>
+            </Style>
+
+            <conv:EnumConverter x:Key="EnumConverter"/>
+        </ResourceDictionary>
+    </UserControl.Resources>
+    <i:Interaction.Triggers>
+        <i:PropertyChangedTrigger Binding="{Binding IsVisible, ElementName=ucs}">
+            <i:InvokeCommandAction Command="{Binding CMD_VisibleChanged}" CommandParameter="{Binding IsVisible, ElementName=ucs}"/>
+        </i:PropertyChangedTrigger>
+    </i:Interaction.Triggers>
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition/>
+            <RowDefinition/>
+        </Grid.RowDefinitions>
+
+        <Grid Grid.RowSpan="2">
+            <Grid.RowDefinitions>
+                <RowDefinition/>
+            </Grid.RowDefinitions>
+
+            <Grid Grid.Column="2">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                    <RowDefinition Height="Auto"/>
+                </Grid.RowDefinitions>
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition/>
+                    <ColumnDefinition/>
+                </Grid.ColumnDefinitions>
+                <Border Background="{StaticResource ACBlueDark}" Grid.ColumnSpan="2">
+                    <Grid Margin="10 5 10 5">
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="21*"/>
+                            <RowDefinition Height="85*"/>
+                        </Grid.RowDefinitions>
+                        <TextBlock Grid.Row="0" Grid.ColumnSpan="2" HorizontalAlignment="Left" FontSize="14" Foreground="{StaticResource ACOrangeNormal}" FontWeight="Bold" Margin="5 0 5 2">
+            Motor Position</TextBlock>
+                        <Grid Grid.Row="1">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                            </Grid.ColumnDefinitions>
+                            <Border Grid.Column="0" BorderBrush="Black" BorderThickness="1" Margin="1">
+                                <i:Interaction.Triggers>
+                                    <i:EventTrigger EventName="MouseLeftButtonDown">
+                                        <i:InvokeCommandAction Command="{Binding CMD_CopyToClipboard}"
+                                   CommandParameter="{Binding PosX, StringFormat={}{0:0.####}}"/>
+                                    </i:EventTrigger>
+                                </i:Interaction.Triggers>
+                                <Grid>
+                                    <TextBlock Style="{StaticResource StTBMonitorName}">X</TextBlock>
+                                    <TextBlock Style="{StaticResource StTBPosition}" Text="{Binding PosX, StringFormat={}{0:0.####}}"/>
+                                </Grid>
+                            </Border>
+
+                            <Border Grid.Column="1" BorderBrush="Black" BorderThickness="1" Margin="1">
+                                <i:Interaction.Triggers>
+                                    <i:EventTrigger EventName="MouseLeftButtonDown">
+                                        <i:InvokeCommandAction Command="{Binding CMD_CopyToClipboard}"
+                                   CommandParameter="{Binding PosY1, StringFormat={}{0:0.####}}"/>
+                                    </i:EventTrigger>
+                                </i:Interaction.Triggers>
+                                <Grid>
+                                    <TextBlock Style="{StaticResource StTBMonitorName}">Y1</TextBlock>
+                                    <TextBlock Style="{StaticResource StTBPosition}" Text="{Binding PosY1, StringFormat={}{0:0.####}}"/>
+                                </Grid>
+                            </Border>
+                            
+                            <Border Grid.Row="0" Grid.Column="2" BorderBrush="Black" BorderThickness="1" Margin="1">
+                                <i:Interaction.Triggers>
+                                    <i:EventTrigger EventName="MouseLeftButtonDown">
+                                        <i:InvokeCommandAction Command="{Binding CMD_CopyToClipboard}"
+                                   CommandParameter="{Binding PosY2, StringFormat={}{0:0.####}}"/>
+                                    </i:EventTrigger>
+                                </i:Interaction.Triggers>
+                                <Grid>
+                                    <TextBlock Style="{StaticResource StTBMonitorName}">Y2</TextBlock>
+                                    <TextBlock Style="{StaticResource StTBPosition}"  Text="{Binding PosY2, StringFormat={}{0:0.####}}"/>
+                                </Grid>
+                            </Border>
+                            <Border Grid.Row="0" Grid.Column="3" BorderBrush="Black" BorderThickness="1" Margin="1">
+                                <i:Interaction.Triggers>
+                                    <i:EventTrigger EventName="MouseLeftButtonDown">
+                                        <i:InvokeCommandAction Command="{Binding CMD_CopyToClipboard}"
+                                   CommandParameter="{Binding PosZ, StringFormat={}{0:0.####}}"/>
+                                    </i:EventTrigger>
+                                </i:Interaction.Triggers>
+                                <Grid>
+                                    <TextBlock Style="{StaticResource StTBMonitorName}">Z</TextBlock>
+                                    <TextBlock Style="{StaticResource StTBPosition}"  Text="{Binding PosZ, StringFormat={}{0:0.####}}"/>
+                                </Grid>
+                            </Border>                            
+                        </Grid>
+                    </Grid>
+                </Border>
+                
+                <Grid Grid.Row="2" Grid.Column="0" Margin="5">
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition/>
+                    </Grid.RowDefinitions>
+                    <TextBlock Grid.Row="0" Margin="2" FontWeight="Bold" FontSize="12" Foreground="{StaticResource ACOrangeNormal}">Move Type</TextBlock>
+                    <Grid Grid.Row="1" >
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition/>
+                            <ColumnDefinition/>
+                        </Grid.ColumnDefinitions>
+                        <RadioButton Grid.Column="0" Style="{StaticResource StRbJogUnit}"
+                                     IsChecked="{Binding MoveType, Converter={StaticResource EnumConverter}, ConverterParameter={x:Static dev:TargetPosType.ABS}, Mode=TwoWay}"
+                                     Content="ABS" />
+                        <RadioButton Grid.Column="1" Style="{StaticResource StRbJogUnit}"
+                                     IsChecked="{Binding MoveType, Converter={StaticResource EnumConverter}, ConverterParameter={x:Static dev:TargetPosType.REL}, Mode=TwoWay}"
+                                     Content="INC" />
+                    </Grid>
+
+
+                </Grid>
+                <Grid Grid.Row="2" Grid.Column="1" Margin="5">
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto"/>
+                        <RowDefinition/>
+                    </Grid.RowDefinitions>
+                    <TextBlock Grid.Row="0" Margin="2" FontWeight="Bold" FontSize="12" Foreground="{StaticResource ACOrangeNormal}">Speed</TextBlock>
+                    <Grid Grid.Row="1" >
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition/>
+                            <ColumnDefinition/>
+                            <ColumnDefinition/>
+                        </Grid.ColumnDefinitions>
+
+                        <RadioButton Grid.Column="0" Style="{StaticResource StRbJogUnit}"
+                                     IsChecked="{Binding Speed, Converter={StaticResource EnumConverter}, ConverterParameter={x:Static acs:Speed.L}, Mode=TwoWay}"
+                                     Content="L"/>
+                        <RadioButton Grid.Column="1" Style="{StaticResource StRbJogUnit}"
+                                     IsChecked="{Binding Speed, Converter={StaticResource EnumConverter}, ConverterParameter={x:Static acs:Speed.M}, Mode=TwoWay}"
+                                     Content="M"/>
+                        <RadioButton Grid.Column="2" Style="{StaticResource StRbJogUnit}"
+                                     IsChecked="{Binding Speed, Converter={StaticResource EnumConverter}, ConverterParameter={x:Static acs:Speed.H}, Mode=TwoWay}"
+                                     Content="H" />
+                    </Grid>
+                </Grid>
+                <Grid Grid.Row="3" Grid.ColumnSpan="2">
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition/>
+                        <ColumnDefinition/>
+                        <ColumnDefinition/>
+                        <ColumnDefinition/>
+                    </Grid.ColumnDefinitions>
+                </Grid>
+                <Border Grid.Row="4" BorderBrush="LightGray" BorderThickness="1" Margin="2">
+                    <Grid Margin="0 0 0 5">
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                        </Grid.RowDefinitions>
+                        <TextBlock HorizontalAlignment="Center" FontSize="14" Foreground="{StaticResource ACOrangeDeep}" FontWeight="Bold" Margin="5 0">
+                        XY</TextBlock>
+                        <Grid Grid.Row="1" Margin="0 0 0 5">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition />
+                                <ColumnDefinition />
+                                <ColumnDefinition />
+                            </Grid.ColumnDefinitions>
+                            <Grid.RowDefinitions>
+                                <RowDefinition/>
+                                <RowDefinition/>
+                            </Grid.RowDefinitions>
+                            <usercontrols:UCKeyValue Grid.Row="0" Grid.ColumnSpan="2"  KeyText="Pos X" Value="{Binding TargetPosX}"
+                                                     DecimalPlaces="3" Height="32" Unit="mm" KeyTextFgColor="White"
+                                                     KeyTextWidth="1*" ValueTextWidth="2*"/>
+                            <Button Grid.Row="0" Grid.Column="2" Margin="1" Content="Move" Command="{Binding CMD_MoveX}"/>
+                            <usercontrols:UCKeyValue Grid.Row="1" Grid.ColumnSpan="2" KeyText="Pos Y" Value="{Binding TargetPosY}"
+                                                     DecimalPlaces="3" Height="32" Unit="mm" KeyTextFgColor="White"
+                                                     KeyTextWidth="1*" ValueTextWidth="2*"/>
+                            <Button Grid.Row="1" Grid.Column="2" Margin="1" Content="Move" Command="{Binding CMD_MoveY}" IsEnabled="False"/>
+
+                        </Grid>
+                        <Grid Grid.Row="2" HorizontalAlignment="Center" Margin="5">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                            </Grid.ColumnDefinitions>
+                            <Grid.RowDefinitions>
+                                <RowDefinition/>
+                                <RowDefinition/>
+                                <RowDefinition/>
+                            </Grid.RowDefinitions>
+
+                            <Button Name="ButtonMoveP_Y" Grid.Row="2" Grid.Column="1" Width="50" Height="40" Margin="1" Content="Y (+)"
+                                    PreviewMouseUp="BtnYJog_P_PreviewMouseUp" PreviewMouseLeftButtonDown="BtnYJog_P_PreviewMouseLeftButtonDown"
+                                    MouseLeave ="ButtonMoveP_Y_MouseLeave" IsEnabled="False"/>
+                            <Button Name="ButtonMoveN_X" Grid.Row="1" Grid.Column="2" Width="50" Height="40" Margin="1" Content="X (-)"
+                                    PreviewMouseUp="BtnXJog_M_PreviewMouseUp" PreviewMouseLeftButtonDown="BtnXJog_M_PreviewMouseLeftButtonDown"
+                                    MouseLeave ="ButtonMoveM_X_MouseLeave"/>
+                            <Button Name="ButtonMoveP_X" Grid.Row="1" Grid.Column="0" Width="50" Height="40" Margin="1" Content="X (+)"
+                                    PreviewMouseUp="BtnXJog_P_PreviewMouseUp" PreviewMouseLeftButtonDown="BtnXJog_P_PreviewMouseLeftButtonDown"
+                                    MouseLeave ="ButtonMoveP_X_MouseLeave"/>
+                            <Button Name="ButtonMoveN_Y" Grid.Row="0" Grid.Column="1" Width="50" Height="40" Margin="1" Content="Y (-)"
+                                    PreviewMouseUp="BtnYJog_M_PreviewMouseUp" PreviewMouseLeftButtonDown="BtnYJog_M_PreviewMouseLeftButtonDown"
+                                    MouseLeave ="ButtonMoveM_Y_MouseLeave" IsEnabled="False"/>
+                        </Grid>
+                        <Grid Grid.Row="3" HorizontalAlignment="Center" Margin="0,20,0,0" Width="150">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                            </Grid.ColumnDefinitions>
+                            <RadioButton Grid.Column="0" Style="{StaticResource StRbJogUnit}"
+                                         IsChecked="{Binding YAxisType, Converter={StaticResource EnumConverter}, ConverterParameter={x:Static YAxisType:eYAxisType.Y1}, Mode=TwoWay}"
+                                         Content="Y1 Use" />
+                            <RadioButton Grid.Column="1" Style="{StaticResource StRbJogUnit}"
+                                         IsChecked="{Binding YAxisType, Converter={StaticResource EnumConverter}, ConverterParameter={x:Static YAxisType:eYAxisType.Y2}, Mode=TwoWay}"
+                                         Content="Y2 Use" IsEnabled="False" />
+                        </Grid>
+                    </Grid>
+                </Border>
+                <Border Grid.Row="4" Grid.Column="1" BorderBrush="LightGray" BorderThickness="1" Margin="2">
+                    <Grid Margin="0 0 0 5">
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                            <RowDefinition Height="Auto"/>
+                        </Grid.RowDefinitions>
+                        <TextBlock HorizontalAlignment="Center" Text="Z" FontSize="14" Foreground="{StaticResource ACOrangeDeep}" FontWeight="Bold" Margin="5 0"/>
+                        <Grid Grid.Row="1" Margin="0 0 0 5">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                            </Grid.ColumnDefinitions>
+                            <usercontrols:UCKeyValue Grid.Column="0" Grid.ColumnSpan="2" KeyText="Pos Z" Value="{Binding TargetPosZ}"
+                                                     DecimalPlaces="3" Height="32" Unit="mm" KeyTextFgColor="White"
+                                                     KeyTextWidth="1*" ValueTextWidth="2*"/>
+                            <Button Grid.Column="2" Margin="1" Content="Move" Command="{Binding CMD_MoveZ}" IsEnabled="{Binding IsDoorLock}"/>
+                        </Grid>
+                        <Grid Grid.Row="2" Margin="0 20 0 0">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="*"/>
+                                <ColumnDefinition Width="2*"/>
+                            </Grid.ColumnDefinitions>
+                            <Grid HorizontalAlignment="Center" Margin="5">
+                                <Grid.RowDefinitions>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                </Grid.RowDefinitions>
+                                <Button Name="ButtonMoveP_Z" Grid.Row="1" Grid.Column="1" Width="50" Height="40" Margin="1" Content="Z (+)"
+                                        PreviewMouseUp="BtnJog_P_PreviewMouseUp" PreviewMouseLeftButtonDown="BtnJog_P_PreviewMouseLeftButtonDown"
+                                        MouseLeave ="ButtonMoveP_Z_MouseLeave"/>
+                                <Button Name="ButtonMoveN_Z" Grid.Row="0" Grid.Column="1" Width="50" Height="40" Margin="1 1 1 20" Content="Z (-)"
+                                        PreviewMouseUp="BtnJog_M_PreviewMouseUp" PreviewMouseLeftButtonDown="BtnJog_M_PreviewMouseLeftButtonDown"
+                                        MouseLeave ="ButtonMoveM_Z_MouseLeave"/>
+                            </Grid>
+                            <Grid Grid.Column="1" VerticalAlignment="Center">
+                                <Grid.RowDefinitions>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                    <RowDefinition/>
+                                </Grid.RowDefinitions>
+                                <Button Grid.Row="0" Margin="2" Height="40"
+                                        Content="Focus Position" Command="{Binding CMD_MoveFocusPos}"/>
+                                <Button Grid.Row="1" Margin="2" Height="40"
+                                        Content="Safety Position" Command="{Binding CMD_MoveSafetyPos}"/>
+                            </Grid>
+                        </Grid>
+                        <Grid Grid.Row="3" Margin="0 50 0 0">
+                            <Button Command="{Binding CMD_MotorStop}" Grid.Row="3" CommandParameter="All" Content="All MoveStop" Margin="10 5" Background="DarkRed"/>
+                        </Grid>
+                     </Grid>
+                </Border>
+            </Grid>
+        </Grid>
+    </Grid>
+</UserControl>
diff --git a/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml.cs b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml.cs
new file mode 100644
index 0000000..9581e1f
--- /dev/null
+++ b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMoving.xaml.cs
@@ -0,0 +1,112 @@
+using Aurora.Api.Manager;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Shapes;
+
+namespace WeldingCommon.Views.ACS
+{
+    /// <summary>
+    /// UCStageMotorMoving.xaml에 대한 상호 작용 논리
+    /// </summary>
+    public partial class UCStageMotorMoving : UserControl
+    {
+        UCStageMotorMovingViewModel ViewModel = null;
+
+        public UCStageMotorMoving()
+        {
+            InitializeComponent();
+            ViewModel = new UCStageMotorMovingViewModel();
+            DataContext = ViewModel;
+        }
+
+        private void BtnXJog_P_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.XJogStop(null);
+        }
+        private void BtnXJog_P_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.XJogPlus(null);
+        }
+        private void ButtonMoveP_X_MouseLeave(object sender, MouseEventArgs e)
+        {
+            ViewModel.XJogStop(null);
+        }
+
+        private void BtnXJog_M_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.XJogStop(null);
+        }
+        private void BtnXJog_M_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.XJogMinus(null);
+        }
+        private void ButtonMoveM_X_MouseLeave(object sender, MouseEventArgs e)
+        {
+            ViewModel.XJogStop(null);
+        }
+
+
+        private void BtnYJog_P_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.YJogStop(null);
+        }
+        private void BtnYJog_P_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.YJogPlus(null);
+        }
+        private void ButtonMoveP_Y_MouseLeave(object sender, MouseEventArgs e)
+        {
+            ViewModel.YJogStop(null);
+        }
+
+        private void BtnYJog_M_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.YJogStop(null);
+        }
+        private void BtnYJog_M_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.YJogMinus(null);
+        }
+        private void ButtonMoveM_Y_MouseLeave(object sender, MouseEventArgs e)
+        {
+            ViewModel.YJogStop(null);
+        }
+
+
+        private void BtnJog_P_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.ZJogStop(null);
+        }
+        private void BtnJog_P_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.ZJogPlus(null);
+        }
+        private void ButtonMoveP_Z_MouseLeave(object sender, MouseEventArgs e)
+        {
+            ViewModel.ZJogStop(null);
+        }
+
+        private void BtnJog_M_PreviewMouseUp(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.ZJogStop(null);
+        }
+        private void BtnJog_M_PreviewMouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            ViewModel.ZJogMinus(null);
+        }
+        private void ButtonMoveM_Z_MouseLeave(object sender, MouseEventArgs e)
+        {
+            ViewModel.ZJogStop(null);
+        }
+    }
+}
diff --git a/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMovingViewModel.cs b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMovingViewModel.cs
new file mode 100644
index 0000000..e11e15c
--- /dev/null
+++ b/WeldingComponents/WeldingCommon/Views/Manual/ACS/Stage/UCStageMotorMovingViewModel.cs
@@ -0,0 +1,315 @@
+using Aurora;
+using Aurora.Api;
+using Aurora.Api.Control;
+using Aurora.Api.Devices;
+using Aurora.Api.Manager;
+using Aurora.Util.HislogPlus;
+using Aurora.View;
+using AuroraACS;
+using AuroraMotionBoard.Ajin;
+using AuroraMotor;
+using WeldingCommon.Device;
+using WeldingCommon.Device.ACS;
+using WeldingCommon.Process;
+using WeldingCommon.Recipes;
+using WeldingCommon.Settings;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Reactive.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Data;
+using System.Windows.Input;
+using System.Windows.Threading;
+using WeldingCommon;
+using JogDirection = AuroraACS.JogDirection;
+using Speed = AuroraACS.Speed;
+using WeldingCommon.Devices.ACS;
+
+namespace WeldingCommon.Views.ACS
+{
+    public class UCStageMotorMovingViewModel : NotifyPropertyChangedBase
+    {
+        readonly Logger LOG = new Logger("ACSMotor");
+
+        public ICommand CMD_MoveFocusPos { get; }
+        public ICommand CMD_MoveSafetyPos { get; }
+        public ICommand CMD_MoveX { get; }
+        public ICommand CMD_MoveY { get; }
+        public ICommand CMD_MoveZ { get; }
+        public ICommand CMD_VisibleChanged { get; }
+        public ICommand CMD_MotorStop { get; }  
+        public ICommand CMD_CopyToClipboard { get; }
+
+        public double TargetPosX { get; set; }
+        public double TargetPosY { get; set; }
+        private double _TargetPosZ;
+        public double TargetPosZ { get => _TargetPosZ; set => SetProperty(ref _TargetPosZ, value); }
+
+        public double PosX { get => _PosX; set => SetProperty(ref _PosX, value); }
+        private double _PosX;
+        public double PosY1 { get => _PosY1; set => SetProperty(ref _PosY1, value); }
+        private double _PosY1;
+        public double PosY2 { get => _PosY2; set => SetProperty(ref _PosY2, value); }
+        private double _PosY2;
+        public double PosZ { get => _PosZ; set => SetProperty(ref _PosZ, value); }
+        private double _PosZ;
+
+        private eYAxisType _YAxisType = eYAxisType.Y1;
+        public eYAxisType YAxisType {
+            get => _YAxisType;
+            set {
+                if(SetProperty(ref _YAxisType, value)) {
+                    if(value == eYAxisType.Y1)
+                        YAxis = MotorY1;
+                    else
+                        YAxis = MotorY2;
+                }
+            }
+        }
+
+        public TargetPosType MoveType { get => _MoveType; set => SetProperty(ref _MoveType, value); }
+        private TargetPosType _MoveType = TargetPosType.ABS;
+
+        public Speed Speed {
+            get => _Speed;
+            set {
+                SetProperty(ref _Speed, value);
+            }
+        }
+        private Speed _Speed = Speed.L;
+
+        public ScannerACS ACS { get; set; }
+        public ACSMotor MotorX { get; set; }
+        public ACSMotor MotorY1 { get; set; }
+        public ACSMotor MotorY2 { get; set; }
+        public ACSMotor MotorZ { get; set; }
+        public ACSMotor XAxis { get; set; }
+        public ACSMotor YAxis { get; set; }
+        public ACSMotor ZAxis { get; set; }
+        readonly DispatcherTimer CurrentPosUpdateTimer;
+        static readonly TimeSpan TIMESPAN_NORMAL = TimeSpan.FromMilliseconds(300);
+        static readonly TimeSpan TIMESPAN_FREQUENT = TimeSpan.FromMilliseconds(100);
+
+        private readonly IAuroraEnvironment _env;
+
+        public UCStageMotorMovingViewModel()
+        {
+            CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
+            CMD_MoveFocusPos = new DelegateCommand(MoveZFocusPos);
+            CMD_MoveSafetyPos = new DelegateCommand(MoveZSafetyPos);
+            CMD_MoveX = new DelegateCommand(MoveX);
+            CMD_MoveY = new DelegateCommand(MoveY);
+            CMD_MoveZ = new DelegateCommand(MoveZ);
+            CMD_MotorStop = new DelegateCommand(OnMotorStop);
+            CMD_CopyToClipboard = new DelegateCommand(OnCopyToClipboard);
+
+            _env = Application.Current.AuroraEnv();
+
+            ACS = _env.DeviceManager[CommonDeviceIds.ACS] as ScannerACS;
+
+            MotorX = _env.DeviceManager[CommonMotorIds.AxisX2] as ACSMotor;
+            MotorY1 = _env.DeviceManager[CommonMotorIds.AxisY1] as ACSMotor;
+            MotorY2 = _env.DeviceManager[CommonMotorIds.AxisY2] as ACSMotor;
+            MotorZ = _env.DeviceManager[CommonMotorIds.AxisZ] as ACSMotor;
+
+            XAxis = MotorX;
+            YAxis = MotorY1;
+            ZAxis = MotorZ;
+
+            CurrentPosUpdateTimer = CreateTimer(
+                TIMESPAN_FREQUENT,
+                OnCurrentPosUpdateTime
+            );
+
+            CurrentPosUpdateTimer.Interval = TIMESPAN_NORMAL;
+
+            _env.EventObservable.AsObservable(CommonEventIds.EVENT_CHANGE_DOOR_LOCK)
+                   .Where(param => param.Param is bool && param.Param != null)
+                   .Select(param => (bool)param.Param);
+        }
+
+        private void OnMotorStop(object obj)
+        {
+            MotorX.DoStopAll();
+        }
+        private void OnCopyToClipboard(object obj)
+        {
+            var s = obj?.ToString();
+            if (!string.IsNullOrWhiteSpace(s))
+                Clipboard.SetText(s);
+        }
+        private void VisibleChanged(object obj)
+        {
+            bool visible = (bool)obj;
+            if (visible) {
+                CurrentPosUpdateTimer.Start();
+            }
+            else {
+                CurrentPosUpdateTimer.Stop();
+            }
+        }
+
+        private void MoveZFocusPos(object obj)
+        {
+            var TeachingPos = _env.SettingEntry[CommonSettingIds.TeachingPos] as TeachingPositionSetting;
+            var target = TeachingPos.Get(eTeachingPosition.StageWeldingStartPos).AxisZ;
+
+            ZAxis.SetTargetPos(target, TargetPosType.ABS);
+            ZAxis.SetMoveVelocityImm(Speed.L);
+            ZAxis.Move();
+
+            LOG.D($"Motion MoveZ : {target}");
+        }
+        private void MoveZSafetyPos(object obj)
+        {
+            var TeachingPos = _env.SettingEntry[CommonSettingIds.TeachingPos] as TeachingPositionSetting;
+            var target = TeachingPos.Get(eTeachingPosition.SafetyPosition).AxisZ;
+
+            ZAxis.SetTargetPos(target, TargetPosType.ABS);
+            ZAxis.SetMoveVelocityImm(Speed.L);
+            ZAxis.Move();
+
+            LOG.D($"Motion MoveZ : {target}");
+        }
+
+        private void MoveX(object obj)
+        {
+            var TargetPos = TargetPosX;
+            if (MoveType == TargetPosType.REL)
+                TargetPos += PosX;
+
+            if (MessageBox.Show($"Stage X축을 {TargetPos}로 이동하시겠습니까?", "Move", MessageBoxButton.YesNo) == MessageBoxResult.No)
+                return;
+
+            XAxis.SetTargetPos(TargetPosX, MoveType);
+            XAxis.SetMoveVelocityImm(Speed.L);
+            XAxis.Move();
+
+            LOG.D($"Motion MoveX : {TargetPosX}");
+        }
+        private void MoveY(object obj)
+        {
+            var TargetPos = TargetPosY;
+            if (MoveType == TargetPosType.REL)
+                TargetPos += YAxisType == eYAxisType.Y1 ? PosY1 : PosY2;
+
+            if (MessageBox.Show($"Stage {YAxisType}축을 {TargetPos}로 이동하시겠습니까?", "Move", MessageBoxButton.YesNo) == MessageBoxResult.No)
+                return;
+
+            YAxis.SetTargetPos(TargetPosY, MoveType);
+            YAxis.SetMoveVelocityImm(Speed.L);
+            YAxis.Move();
+
+            LOG.D($"Motion MoveY : {TargetPosY}");
+        }
+        private void MoveZ(object obj)
+        {
+            var TargetPos = TargetPosZ;
+            if (MoveType == TargetPosType.REL)
+                TargetPos += PosZ;
+
+            //if(TargetPos > 35){
+            //    MessageBox.Show($"{TargetPosZ}로 이동할 수 없습니다.(Limit : 35)", "InterLock", MessageBoxButton.OK);
+            //    return;
+            //}
+
+            if (MessageBox.Show($"Stage Z축을 {TargetPos}로 이동하시겠습니까?", "Move", MessageBoxButton.YesNo) == MessageBoxResult.No)
+                return;
+
+            ZAxis.SetTargetPos(TargetPosZ, MoveType);
+            ZAxis.SetMoveVelocityImm(Speed.L);
+            ZAxis.Move();
+
+            LOG.D($"Motion MoveZ : {TargetPosZ}");
+        }
+
+        DispatcherTimer CreateTimer(TimeSpan interval, Action onTime)
+        {
+            var timer = new DispatcherTimer();
+            timer.Tick += (s, e) => onTime();
+            timer.Interval = interval;
+            return timer;
+        }
+
+        void OnCurrentPosUpdateTime()
+        {
+            if (!ACS.IsActivated)
+                return;
+
+            PosX = ACS._motorVariable.X2AxisPosition;
+            PosY1 = ACS._motorVariable.Y1AxisPosition;
+            PosY2 = ACS._motorVariable.Y2AxisPosition;
+            PosZ = ACS._motorVariable.ZAxisPosition;
+        }
+        internal void XJogStop(object obj)
+        {
+            XAxis.Stop();
+        }
+        internal void XJogPlus(object obj)
+        {
+            XAxis.MoveToSWLimit(JogDirection.plus, Speed);
+            //XAxis.Jog(JogDirection.plus, Speed);
+        }
+        internal void XJogMinus(object obj)
+        {
+            XAxis.MoveToSWLimit(JogDirection.minus, Speed);
+        }
+
+        internal void YJogStop(object obj)
+        {
+            YAxis.Stop();
+        }
+        internal void YJogPlus(object obj)
+        {
+            YAxis.MoveToSWLimit(JogDirection.plus, Speed);
+        }
+        internal void YJogMinus(object obj)
+        {
+            YAxis.MoveToSWLimit(JogDirection.minus, Speed);
+        }
+
+        internal void ZJogStop(object obj)
+        {
+            ZAxis.Stop();
+        }
+        internal void ZJogPlus(object obj)
+        {
+            ZAxis.MoveToSWLimit(JogDirection.plus, Speed);
+        }
+        internal void ZJogMinus(object obj)
+        {
+            ZAxis.MoveToSWLimit(JogDirection.minus, Speed);
+        }
+
+        internal void JogUp()
+        {
+            //var res = ZAxis.Jog((AuroraMotionBoard.Ajin.JogDirection)JogDirection.plus, (AuroraMotionBoard.Ajin.Speed)Speed);
+
+            //if (res != 0)
+            //    LOG.W($"Please, Check Motor(Axis Z) Status({res}).");
+        }
+        internal void JogDown()
+        {
+            //int res = ZAxis.Jog((AuroraMotionBoard.Ajin.JogDirection)JogDirection.minus, (AuroraMotionBoard.Ajin.Speed)Speed);
+
+            //if (res != 0)
+            //    LOG.W($"Please, Check Motor(Axis Z) Status({res}).");
+        }
+    }
+    public class ComparisonConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            return value?.Equals(parameter);
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            return value?.Equals(true) == true ? parameter : Binding.DoNothing;
+        }
+    }
+}
diff --git a/WeldingComponents/WeldingCommon/WeldingCommon.csproj b/WeldingComponents/WeldingCommon/WeldingCommon.csproj
index 256ea07..7846b5f 100644
--- a/WeldingComponents/WeldingCommon/WeldingCommon.csproj
+++ b/WeldingComponents/WeldingCommon/WeldingCommon.csproj
@@ -353,6 +353,10 @@
       <DependentUpon>UCStageManual.xaml</DependentUpon>
     </Compile>
     <Compile Include="Views\Manual\ACS\Stage\UCStageManualViewModel.cs" />
+    <Compile Include="Views\Manual\ACS\Stage\UCStageMotorMoving.xaml.cs">
+      <DependentUpon>UCStageMotorMoving.xaml</DependentUpon>
+    </Compile>
+    <Compile Include="Views\Manual\ACS\Stage\UCStageMotorMovingViewModel.cs" />
     <Compile Include="Views\Manual\Scanner\UCManualScannerOperation.xaml.cs">
       <DependentUpon>UCManualScannerOperation.xaml</DependentUpon>
     </Compile>
@@ -694,6 +698,10 @@
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>
     </Page>
+    <Page Include="Views\Manual\ACS\Stage\UCStageMotorMoving.xaml">
+      <Generator>MSBuild:Compile</Generator>
+      <SubType>Designer</SubType>
+    </Page>
     <Page Include="Views\Manual\Scanner\UCManualScannerOperation.xaml">
       <SubType>Designer</SubType>
       <Generator>MSBuild:Compile</Generator>