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SAP ↔ VDA5050 Mapping

Version: 1.0
Date: December 8, 2025
VDA5050 Version: 2.0.0

Overview

VDA5050 is a German automotive industry association standard for AGV (Automated Guided Vehicle) communication. This document defines field mapping between SAP protocol and VDA5050.

Core Concept Mapping

VDA5050 Concept SAP Concept Description
AGV Robot Autonomous mobile robot
Order TransitTicket Movement allocation
Node VoxelTimeSlot Spatiotemporal allocation
Edge Path Segment Path section
Action MotionCommand Motion command
Master Control Edge Server Central control

State Mapping (VDA5050 → SAP)

AGV Position → SAP Position

VDA5050 Field SAP Field Type Conversion
agvPosition.x position.x f64 → f32 Direct
agvPosition.y position.y f64 → f32 Direct
agvPosition.theta position.theta f64 → f32 Direct
agvPosition.mapId zone_id string → u32 Hash/Mapping
agvPosition.positionInitialized - bool N/A

Velocity → SAP Velocity

VDA5050 Field SAP Field Unit
velocity.vx velocity.vx m/s
velocity.vy velocity.vy m/s
velocity.omega velocity.omega rad/s

Operating Mode → SAP Status

VDA5050 operatingMode SAP RobotState.status
AUTOMATIC Active
SEMIAUTOMATIC Active
MANUAL Idle
SERVICE Maintenance
TEACHIN Idle

Safety State → SAP

VDA5050 safetyState SAP Handling
fieldViolation: true GeofenceViolation error
eStop: AUTOACK/MANUAL/REMOTE/NONE EmergencyStop command

Order Mapping (SAP → VDA5050)

TransitTicket → VDA5050 Order

SAP Field VDA5050 Field Conversion
ticket_id orderId u128 → UUID string
zone_id zoneSetId u32 → string
vts.voxel_id nodes[].nodeId u64 → string
vts.t_start_ns nodes[].sequenceId Sequence-based

MotionCommand → VDA5050 Action

SAP MotionCommand VDA5050 actionType
Move drive
Stop cancelOrder
Rotate pick (rotate then wait)

Error Mapping

VDA5050 errorType SAP SapError
orderError InvalidTicket
orderNoRoute AuctionFailed
validationError VTSViolation
noRouteToTarget GeofenceViolation

Implementation Guide

1. Adapter Structure

┌─────────────────────────────────────┐
│        vda5050-adapter              │
│  ┌─────────────────────────────┐   │
│  │  State Translator           │   │
│  │  - VDA State → SAP State    │   │
│  └─────────────────────────────┘   │
│  ┌─────────────────────────────┐   │
│  │  Order Translator           │   │
│  │  - SAP Ticket → VDA Order   │   │
│  └─────────────────────────────┘   │
│  ┌─────────────────────────────┐   │
│  │  MQTT Client                │   │
│  │  - Broker connection        │   │
│  └─────────────────────────────┘   │
└─────────────────────────────────────┘

2. MQTT Topics

Direction Topic Pattern Description
AGV → MC vda5050/v2/{manufacturer}/{serialNumber}/state Status report
MC → AGV vda5050/v2/{manufacturer}/{serialNumber}/order Command delivery

3. Important Notes

  • Timestamp: VDA5050 uses ISO 8601 strings, SAP uses nanosecond integers
  • Coordinate System: VDA5050 uses right-hand system (RHS), same as SAP
  • map_id: Mapping table required for VDA5050 string → SAP zone_id

Next Steps

  1. Create vda5050-adapter Rust crate
  2. Integrate MQTT client (rumqttc)
  3. Test with actual AGVs