An Automated Guided Vehicle (AGV) is a warehouse transport machine similar to a forklift truck that moves automatically along pre-planned paths. AGVs integrate with Easy WMS to execute container transport tasks autonomously, eliminating the need for human operators on repetitive movement routes.
AGVs are created and configured in EasyS or EasyAssistant as station-type elements, assigned to an AGV equipment group. Easy WMS communicates with the AGV system through a database-table-based messaging interface, sending transport orders and receiving execution confirmations. AGVs dramatically improve throughput in automatic warehouses by handling putaway, replenishment, shipping preparation, and cross-location transfers continuously.
The AGV module also supports Pallet Shuttle movements — AGVs can transport pallet shuttle carts between compact rack channels, eliminating the need for manual forklift intervention.
Task prioritization: urgent orders are assigned first; priority can be modified before AGV assignment
RFT fallback: when AGVs are unavailable, operators can execute AGV tasks manually via radio frequency terminal
Order cancellation and relocation: if an order is canceled mid-execution, Easy WMS searches for a valid putaway location for any loaded container
Full message exchange monitoring: export (WMS→AGV) and import (AGV→WMS) message queues are visible and auditable
Architecture
Communication protocol
Easy WMS and the AGV system exchange messages via database tables (not REST or direct API calls). The standard execution flow for a transport order:
Phase
Direction
Meaning
WMS sends order
WMS → AGV
Transport order request created
00
AGV → WMS
Order accepted
03
AGV → WMS
Vehicle assigned
04
AGV → WMS
Load permission request (if Can Pick = false)
WMS sends load auth
WMS → AGV
Load authorization with AGV assignment
06
AGV → WMS
Load confirmed
08
AGV → WMS
Unload permission request (if Can Drop = false)
WMS sends unload auth
WMS → AGV
Unload authorization
10
AGV → WMS
Unload confirmed — order complete
255
AGV → WMS
Order canceled by AGV
AGV station attributes
Field
Description
Code
Unique AGV station identifier
Control status
Current status: available, breakdown, loading, etc.
Number
Unique per station type per warehouse
Brand / Model
AGV hardware identification
AGV task attributes (key fields)
Field
Description
Task number
WMS-generated unique order number
Load type
0 = Container, 1 = Pallet Shuttle
Load location / Unload location
WMS station code or location
Can pick / Can drop
Whether AGV system must request load/unload permission from WMS
Load aisle / Unload aisle
Mandatory in FIFO compact racks; optional in LIFO
Priority
Execution priority — most urgent tasks dispatched first
Previous task
Chained task dependency
Configuration
Initial setup (minimum required)
Configure warehouse layout in EasyS or EasyAssistant:
Create a warehouse station linked to an AGV equipment group
Add at least one AGV in the group
Configure routes from the AGV station to all allowed movement locations
Valid location types for AGV movements: conventional rack, compact (single/multi), dynamic, pushback, cantilever, stage, dock, PIE (inbound conveyor), ET (deposit/loading conveyor)
Locations that allow AGV movements must have a manual loading aisle configured
Optionally enable/disable the Allow loading and Allow unloading flags per location — when disabled, the AGV system requests permission from WMS before proceeding
Lock type for AGV errors
A dedicated location lock type with the "For AGV" flag must be created to manage extraction/putaway errors on non-conventional or non-APS storage locations. Only one such lock type can exist per warehouse. Configure from: Masters > Lock types > Location lock types via Mark for AGV / Unmark for AGV actions.
Operations
Monitoring (PC — AGVs menu)
View
Purpose
AGV Stations
List of registered AGVs with control status
AGV Tasks
All transport orders with status, priority, load/unload locations
Export Messages
Messages sent by WMS to AGV system (order creation, update, cancel, auth)
Import Messages
Messages received from AGV system (phases 00/03/04/06/08/10/255)
Cancel task: available in Tasks view (Warehouse menu). Two scenarios: (1) AGV not yet loaded → order removed from queue and AGV system notified; (2) AGV has container loaded → WMS searches for valid putaway location using configured strategies; if none found, user notified for manual action
Finish task manually: available when AGV is blocked (e.g., physical obstacle). User confirms the unload location manually.
RFT fallback (AGV Movements menu on RFT)
When AGVs are unavailable, operators use the "AGV Movements" option on RFT. Tasks can be filtered by zone. Order selection follows picking process: confirm container at load location, confirm unload location. Issue types during RFT execution:
Loading issues: Container not found (→ Lost & Found), Mark for review (→ creates count for location)
Unloading issues: Mark for review (→ count created, enter alternate unload location), Mark as full (blocks location), Other location (change unload destination)
Errors & troubleshooting
Error categories
Category
Description
Configuration errors
Incorrect load/unload station, duplicate order ID, invalid operation type, unload station modification after phase 03, priority modification after assignment
Execution errors
Extraction error (no container at pickup), putaway error (destination occupied), container mismatch, no valid relocation found
Arthur Ria