VDA5050 Core (Smart Field CMS) 1.0.0+bot.1 documentation

Operations

SEND /uagv/v2/{manufacturer}/{serialNumber}/order

Master Control 下達任務給 AGV

Master Control 發送 Order 給 AGV

Operation IDsendOrder

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Order

application/json

Message IDOrder

object allOf

Master Control → AGV 的任務訊息

Examples

#1 Example - delivery

送餐任務

{
  "headerId": 1712995200000,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "orderId": "task_0f3a8b9c-0000-0000-0000-000000000001",
  "orderUpdateId": 0,
  "taskType": "delivery",
  "nodes": [
    {
      "nodeId": "node_origin_task_0f3a8b9c",
      "sequenceId": 0,
      "released": true,
      "nodePosition": {
        "x": 12.345,
        "y": 6.789,
        "theta": 0,
        "mapId": "map-lobby-v3",
        "allowedDeviationXY": 0.3,
        "allowedDeviationTheta": 0.1
      },
      "actions": []
    },
    {
      "nodeId": "node_target_task_0f3a8b9c",
      "sequenceId": 2,
      "released": true,
      "nodePosition": {
        "x": 20,
        "y": 8.5,
        "mapId": "map-lobby-v3"
      },
      "actions": [
        {
          "actionId": "action_task_0f3a8b9c_drop",
          "actionType": "drop",
          "blockingType": "HARD",
          "actionParameters": []
        }
      ]
    }
  ],
  "edges": [
    {
      "edgeId": "edge_task_0f3a8b9c_0",
      "sequenceId": 1,
      "released": true,
      "startNodeId": "node_origin_task_0f3a8b9c",
      "endNodeId": "node_target_task_0f3a8b9c",
      "actions": []
    }
  ]
}

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/order

Master Control 下達任務給 AGV

AGV 接收 Order

Operation IDreceiveOrder

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Order

application/json

Message IDOrder

object allOf

Master Control → AGV 的任務訊息

Examples

#1 Example - delivery

送餐任務

{
  "headerId": 1712995200000,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "orderId": "task_0f3a8b9c-0000-0000-0000-000000000001",
  "orderUpdateId": 0,
  "taskType": "delivery",
  "nodes": [
    {
      "nodeId": "node_origin_task_0f3a8b9c",
      "sequenceId": 0,
      "released": true,
      "nodePosition": {
        "x": 12.345,
        "y": 6.789,
        "theta": 0,
        "mapId": "map-lobby-v3",
        "allowedDeviationXY": 0.3,
        "allowedDeviationTheta": 0.1
      },
      "actions": []
    },
    {
      "nodeId": "node_target_task_0f3a8b9c",
      "sequenceId": 2,
      "released": true,
      "nodePosition": {
        "x": 20,
        "y": 8.5,
        "mapId": "map-lobby-v3"
      },
      "actions": [
        {
          "actionId": "action_task_0f3a8b9c_drop",
          "actionType": "drop",
          "blockingType": "HARD",
          "actionParameters": []
        }
      ]
    }
  ],
  "edges": [
    {
      "edgeId": "edge_task_0f3a8b9c_0",
      "sequenceId": 1,
      "released": true,
      "startNodeId": "node_origin_task_0f3a8b9c",
      "endNodeId": "node_target_task_0f3a8b9c",
      "actions": []
    }
  ]
}

SEND /uagv/v2/{manufacturer}/{serialNumber}/instantActions

雙向 channel：Master → AGV 下達即時動作；AGV / Dispatcher → Master 回應或請求。注意：CMS 使用 state 訊息回報 action 狀態（見 T-Extension spec）。

Master Control 發送 InstantActions

Operation IDsendInstantActions

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 InstantActions

application/json

Message IDInstantActions

object allOf

雙向 instant actions 訊息

Examples

#1 Example - cancel

取消訂單

{
  "headerId": 1712995202000,
  "timestamp": "2026-04-13T18:00:02.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "instantActions": [
    {
      "actionId": "cancel_task_0f3a8b9c_1712995202000",
      "actionType": "cancelOrder",
      "blockingType": "HARD",
      "actionParameters": []
    }
  ]
}

#2 Example - initPosition

初始化位置

{
  "headerId": 1712995203000,
  "timestamp": "2026-04-13T18:00:03.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "instantActions": [
    {
      "actionId": "initPos_1712995203000",
      "actionType": "initPosition",
      "blockingType": "HARD",
      "actionParameters": [
        {
          "key": "x",
          "value": 12
        },
        {
          "key": "y",
          "value": 7.5
        },
        {
          "key": "theta",
          "value": 1.5708
        },
        {
          "key": "mapId",
          "value": "map-lobby-v3"
        }
      ]
    }
  ]
}

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/instantActions

雙向 channel：Master → AGV 下達即時動作；AGV / Dispatcher → Master 回應或請求。注意：CMS 使用 state 訊息回報 action 狀態（見 T-Extension spec）。

AGV 接收 InstantActions

Operation IDreceiveInstantActions

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 InstantActions

application/json

Message IDInstantActions

object allOf

雙向 instant actions 訊息

Examples

#1 Example - cancel

取消訂單

{
  "headerId": 1712995202000,
  "timestamp": "2026-04-13T18:00:02.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "instantActions": [
    {
      "actionId": "cancel_task_0f3a8b9c_1712995202000",
      "actionType": "cancelOrder",
      "blockingType": "HARD",
      "actionParameters": []
    }
  ]
}

#2 Example - initPosition

初始化位置

{
  "headerId": 1712995203000,
  "timestamp": "2026-04-13T18:00:03.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "instantActions": [
    {
      "actionId": "initPos_1712995203000",
      "actionType": "initPosition",
      "blockingType": "HARD",
      "actionParameters": [
        {
          "key": "x",
          "value": 12
        },
        {
          "key": "y",
          "value": 7.5
        },
        {
          "key": "theta",
          "value": 1.5708
        },
        {
          "key": "mapId",
          "value": "map-lobby-v3"
        }
      ]
    }
  ]
}

SEND /uagv/v2/{manufacturer}/{serialNumber}/state

AGV → Master 狀態回報（1–10 Hz）

AGV 發布狀態

Operation IDpublishState

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 State

application/json

Message IDState

object allOf

AGV → Master 狀態訊息

Examples

#1 Example - driving

執行任務中

{
  "headerId": 1712995200100,
  "timestamp": "2026-04-13T18:00:00.100Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "orderId": "task_0f3a8b9c-0000-0000-0000-000000000001",
  "orderUpdateId": 0,
  "lastNodeId": "node_origin_task_0f3a8b9c",
  "lastNodeSequenceId": 0,
  "driving": true,
  "paused": false,
  "operatingMode": "AUTOMATIC",
  "nodeStates": [
    {
      "nodeId": "node_target_task_0f3a8b9c",
      "sequenceId": 2,
      "released": true,
      "nodePosition": {
        "x": 20,
        "y": 8.5,
        "mapId": "map-lobby-v3"
      }
    }
  ],
  "edgeStates": [
    {
      "edgeId": "edge_task_0f3a8b9c_0",
      "sequenceId": 1,
      "released": true
    }
  ],
  "actionStates": [
    {
      "actionId": "action_task_0f3a8b9c_drop",
      "actionType": "drop",
      "actionStatus": "WAITING"
    }
  ],
  "batteryState": {
    "batteryCharge": 72.5,
    "batteryVoltage": 24.1,
    "batteryHealth": 98,
    "charging": false,
    "reach": 5200
  },
  "errors": [],
  "informations": [
    {
      "infoType": "agvIp",
      "infoLevel": "INFO",
      "infoDescription": "192.168.10.42"
    }
  ],
  "safetyState": {
    "eStop": "NONE",
    "fieldViolation": false
  },
  "agvPosition": {
    "x": 13.579,
    "y": 7.111,
    "theta": 1.5708,
    "mapId": "map-lobby-v3",
    "positionInitialized": true,
    "localizationScore": 0.98
  },
  "velocity": {
    "vx": 0.45,
    "vy": 0,
    "omega": 0
  },
  "loads": []
}

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/state

AGV → Master 狀態回報（1–10 Hz）

Master Control 接收狀態

Operation IDreceiveState

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 State

application/json

Message IDState

object allOf

AGV → Master 狀態訊息

Examples

#1 Example - driving

執行任務中

{
  "headerId": 1712995200100,
  "timestamp": "2026-04-13T18:00:00.100Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "orderId": "task_0f3a8b9c-0000-0000-0000-000000000001",
  "orderUpdateId": 0,
  "lastNodeId": "node_origin_task_0f3a8b9c",
  "lastNodeSequenceId": 0,
  "driving": true,
  "paused": false,
  "operatingMode": "AUTOMATIC",
  "nodeStates": [
    {
      "nodeId": "node_target_task_0f3a8b9c",
      "sequenceId": 2,
      "released": true,
      "nodePosition": {
        "x": 20,
        "y": 8.5,
        "mapId": "map-lobby-v3"
      }
    }
  ],
  "edgeStates": [
    {
      "edgeId": "edge_task_0f3a8b9c_0",
      "sequenceId": 1,
      "released": true
    }
  ],
  "actionStates": [
    {
      "actionId": "action_task_0f3a8b9c_drop",
      "actionType": "drop",
      "actionStatus": "WAITING"
    }
  ],
  "batteryState": {
    "batteryCharge": 72.5,
    "batteryVoltage": 24.1,
    "batteryHealth": 98,
    "charging": false,
    "reach": 5200
  },
  "errors": [],
  "informations": [
    {
      "infoType": "agvIp",
      "infoLevel": "INFO",
      "infoDescription": "192.168.10.42"
    }
  ],
  "safetyState": {
    "eStop": "NONE",
    "fieldViolation": false
  },
  "agvPosition": {
    "x": 13.579,
    "y": 7.111,
    "theta": 1.5708,
    "mapId": "map-lobby-v3",
    "positionInitialized": true,
    "localizationScore": 0.98
  },
  "velocity": {
    "vx": 0.45,
    "vy": 0,
    "omega": 0
  },
  "loads": []
}

SEND /uagv/v2/{manufacturer}/{serialNumber}/connection

AGV → Master 連線狀態（建議設 MQTT LWT）

AGV 發布連線狀態（可設 LWT）

Operation IDpublishConnection

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Connection

application/json

Message IDConnection

object allOf

AGV → Master 連線狀態訊息。建議設 MQTT LWT。

Examples

#1 Example - online

{
  "headerId": 1,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "connectionState": "ONLINE"
}

#2 Example - lwt

LWT CONNECTIONBROKEN

{
  "headerId": 0,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "connectionState": "CONNECTIONBROKEN"
}

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/connection

AGV → Master 連線狀態（建議設 MQTT LWT）

Master Control 接收連線狀態

Operation IDreceiveConnection

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Connection

application/json

Message IDConnection

object allOf

AGV → Master 連線狀態訊息。建議設 MQTT LWT。

Examples

#1 Example - online

{
  "headerId": 1,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "connectionState": "ONLINE"
}

#2 Example - lwt

LWT CONNECTIONBROKEN

{
  "headerId": 0,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "connectionState": "CONNECTIONBROKEN"
}

SEND /uagv/v2/{manufacturer}/{serialNumber}/visualization

AGV → Master 高頻位置更新（10–30 Hz）

Operation IDpublishVisualization

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Visualization

application/json

Message IDVisualization

object allOf

AGV → Master 高頻位置更新（10–30 Hz）

Examples

#1 Example - position

{
  "headerId": 1234567,
  "timestamp": "2026-04-13T18:00:00.050Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "agvPosition": {
    "x": 13.6,
    "y": 7.1,
    "theta": 1.57,
    "mapId": "map-lobby-v3",
    "positionInitialized": true
  },
  "velocity": {
    "vx": 0.45,
    "vy": 0,
    "omega": 0
  }
}

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/visualization

AGV → Master 高頻位置更新（10–30 Hz）

Operation IDreceiveVisualization

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Visualization

application/json

Message IDVisualization

object allOf

AGV → Master 高頻位置更新（10–30 Hz）

Examples

#1 Example - position

{
  "headerId": 1234567,
  "timestamp": "2026-04-13T18:00:00.050Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "agvPosition": {
    "x": 13.6,
    "y": 7.1,
    "theta": 1.57,
    "mapId": "map-lobby-v3",
    "positionInitialized": true
  },
  "velocity": {
    "vx": 0.45,
    "vy": 0,
    "omega": 0
  }
}

SEND /uagv/v2/{manufacturer}/{serialNumber}/factsheet

AGV → Master AGV 規格

Operation IDpublishFactsheet

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Factsheet

application/json

Message IDFactsheet

object allOf

AGV → Master 功能規格表

Examples

#1 Example - puduBot

{
  "headerId": 1,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "typeSpecification": {
    "seriesName": "PuduBot 2",
    "seriesDescription": "Delivery robot series",
    "agvKinematic": "DIFF",
    "agvClass": "CARRIER",
    "maxLoadMass": 40,
    "localizationTypes": [
      "NATURAL"
    ],
    "navigationTypes": [
      "VIRTUAL_LINE_GUIDED"
    ]
  },
  "physicalParameters": {
    "speedMin": 0.1,
    "speedMax": 1.2,
    "accelerationMax": 0.5,
    "decelerationMax": 0.8,
    "heightMin": 1,
    "heightMax": 1.3,
    "width": 0.52,
    "length": 0.58
  },
  "protocolLimits": {
    "maxStringLens": {
      "msgLen": 65535
    },
    "maxArrayLens": {
      "order.nodes": 100
    },
    "timing": {
      "minOrderInterval": 1,
      "minStateInterval": 0.1,
      "defaultStateInterval": 1,
      "visualizationInterval": 0.1
    }
  },
  "protocolFeatures": {
    "optionalParameters": [
      {
        "parameter": "trajectory",
        "support": "SUPPORTED"
      }
    ],
    "agvActions": [
      {
        "actionType": "drop",
        "actionScopes": [
          "NODE"
        ],
        "actionParameters": []
      },
      {
        "actionType": "wait",
        "actionScopes": [
          "NODE"
        ],
        "actionParameters": [
          {
            "key": "duration",
            "valueDataType": "STRING"
          }
        ]
      }
    ]
  }
}

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/factsheet

AGV → Master AGV 規格

Operation IDreceiveFactsheet

Available only on servers:

production
development

object

manufacturerstring

required

廠商代碼

serialNumberstring

required

機器人序號

object

Accepts the following message:

VDA5050 Factsheet

application/json

Message IDFactsheet

object allOf

AGV → Master 功能規格表

Examples

#1 Example - puduBot

{
  "headerId": 1,
  "timestamp": "2026-04-13T18:00:00.000Z",
  "version": "2.0.0",
  "manufacturer": "pudu",
  "serialNumber": "ROBOT-001",
  "typeSpecification": {
    "seriesName": "PuduBot 2",
    "seriesDescription": "Delivery robot series",
    "agvKinematic": "DIFF",
    "agvClass": "CARRIER",
    "maxLoadMass": 40,
    "localizationTypes": [
      "NATURAL"
    ],
    "navigationTypes": [
      "VIRTUAL_LINE_GUIDED"
    ]
  },
  "physicalParameters": {
    "speedMin": 0.1,
    "speedMax": 1.2,
    "accelerationMax": 0.5,
    "decelerationMax": 0.8,
    "heightMin": 1,
    "heightMax": 1.3,
    "width": 0.52,
    "length": 0.58
  },
  "protocolLimits": {
    "maxStringLens": {
      "msgLen": 65535
    },
    "maxArrayLens": {
      "order.nodes": 100
    },
    "timing": {
      "minOrderInterval": 1,
      "minStateInterval": 0.1,
      "defaultStateInterval": 1,
      "visualizationInterval": 0.1
    }
  },
  "protocolFeatures": {
    "optionalParameters": [
      {
        "parameter": "trajectory",
        "support": "SUPPORTED"
      }
    ],
    "agvActions": [
      {
        "actionType": "drop",
        "actionScopes": [
          "NODE"
        ],
        "actionParameters": []
      },
      {
        "actionType": "wait",
        "actionScopes": [
          "NODE"
        ],
        "actionParameters": [
          {
            "key": "duration",
            "valueDataType": "STRING"
          }
        ]
      }
    ]
  }
}

Messages

#1VDA5050 Order

application/json

Message IDOrder

object allOf

Master Control → AGV 的任務訊息

#2VDA5050 InstantActions

application/json

Message IDInstantActions

object allOf

雙向 instant actions 訊息

#3VDA5050 State

application/json

Message IDState

object allOf

AGV → Master 狀態訊息

#4VDA5050 Connection

application/json

Message IDConnection

object allOf

AGV → Master 連線狀態訊息。建議設 MQTT LWT。

#5VDA5050 Visualization

application/json

Message IDVisualization

object allOf

AGV → Master 高頻位置更新（10–30 Hz）

#6VDA5050 Factsheet

application/json

Message IDFactsheet

object allOf

AGV → Master 功能規格表

VDA5050 Core (Smart Field CMS) 1.0.0+bot.1

1.0.0 — 2026-04-13 (human:init)

Servers

Security:

Operations

SEND /uagv/v2/{manufacturer}/{serialNumber}/order

Examples

#1 Example - delivery

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/order

Examples

#1 Example - delivery

SEND /uagv/v2/{manufacturer}/{serialNumber}/instantActions

Examples

#1 Example - cancel

#2 Example - initPosition

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/instantActions

Examples

#1 Example - cancel

#2 Example - initPosition

SEND /uagv/v2/{manufacturer}/{serialNumber}/state

Examples

#1 Example - driving

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/state

Examples

#1 Example - driving

SEND /uagv/v2/{manufacturer}/{serialNumber}/connection

Examples

#1 Example - online

#2 Example - lwt

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/connection

Examples

#1 Example - online

#2 Example - lwt

SEND /uagv/v2/{manufacturer}/{serialNumber}/visualization

Examples

#1 Example - position

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/visualization

Examples

#1 Example - position

SEND /uagv/v2/{manufacturer}/{serialNumber}/factsheet

Examples

#1 Example - puduBot

RECEIVE /uagv/v2/{manufacturer}/{serialNumber}/factsheet

Examples

#1 Example - puduBot

Messages