diff --git a/manipulate/v1/func_set.fbs b/manipulate/v1/func_set.fbs
index 5c0d5537..22bf3f96 100755
--- a/manipulate/v1/func_set.fbs
+++ b/manipulate/v1/func_set.fbs
@@ -74,4 +74,39 @@ table Request_Set_User_Frame_3Points {
 // "set_master_mode"
 table Request_Set_Master_Mode {
   mode: int;
-}
\ No newline at end of file
+}
+
+// "set_fixed_speed"
+table Request_Set_Fixed_Speed_Mode {
+  target_move:      int;
+    // 0: J-Types
+    // 1: L-Types
+  vel_option:       int;
+    // 0: Off
+    // 1: Fixed mode: %
+    // 2: Fixed mode: Physical
+  vel_parameter:    float;
+  acc_option:       int;
+    // 0: Off
+    // 1: Fixed mode: %
+    // 2: Fixed mode: Physical
+  acc_parameter:    float;
+}
+
+// "set_timeconstraint"
+table Request_Set_TimeConstraint {
+  option:          int;
+    // 0 : Off
+    // 1 : Unit Move Time-Constraint
+    // 2 : Multi Move Time-Constraint
+  time_sec:        float;
+    // Target time(sec)
+}
+
+// "set_ascii_functioncall"
+table Request_Set_AsciiFunctionCall {
+  option:         int;
+    // 0 : Direct Execution
+    // 1 : Que Message
+  message:        string;
+}
diff --git a/nexus/v1/common_notify.fbs b/nexus/v1/common_notify.fbs
new file mode 100644
index 00000000..2eb78615
--- /dev/null
+++ b/nexus/v1/common_notify.fbs
@@ -0,0 +1,37 @@
+include "struct.fbs";
+
+namespace muscat;
+
+enum Notify_Level_Enum:byte { INFO = 0, WARNING = 1, ERROR = 2 }
+enum Notify_ButtonType_Enum:byte { POSITIVE = 0, NEGATIVE = 1, NORMAL = 2 }
+
+table Notify_Button {
+  label: Multilingual_Struct (required); // {ko: string, en: string (required), ja: string, zh: string, vi: string, th: string, es: string}
+  action: string (required);
+  type: Notify_ButtonType_Enum = NORMAL; // 0: POSITIVE, 1: NEGATIVE, 2: NORMAL
+}
+
+table Notify_Message {
+    code: string (required);
+    title: Multilingual_Struct (required); // {ko: string, en: string (required), ja: string, zh: string, vi: string, th: string, es: string}
+    message: Multilingual_Struct; // {ko: string, en: string (required), ja: string, zh: string, vi: string, th: string, es: string}
+    level: Notify_Level_Enum = INFO; // 0: INFO, 1: WARNING, 2: ERROR
+    buttons: [Notify_Button]; // {label: Multilingual_Struct, action: string, type: Notify_ButtonType_Enum}
+}
+
+// publush => "muscat/notify/messages"
+table Notify_Message_List {
+    messages: [Notify_Message];
+}
+
+// query => "{robot_model}/read/notify"
+table Request_Read_Notify_Message {
+    code: string (required);
+    action: string (required);
+    extra_payload: string;
+}
+
+// "{robot_model}/read/notify" 에 대한 응답
+table Response_Read_Notify_Message {
+    result: Result_Enum = SUCCESS; // 0: SUCCESS, 1: FAIL
+}
diff --git a/nexus/v1/struct.fbs b/nexus/v1/struct.fbs
new file mode 100644
index 00000000..a3cc6ec0
--- /dev/null
+++ b/nexus/v1/struct.fbs
@@ -0,0 +1,17 @@
+namespace muscat;
+
+enum Result_Enum:byte { SUCCESS = 0, FAIL = 1 }
+
+table Response_Result {
+  result: Result_Enum = SUCCESS;
+}
+
+table Multilingual_Struct {
+  ko: string;
+  en: string (required);
+  ja: string;
+  zh: string;
+  vi: string;
+  th: string;
+  es: string;
+}