This document defines requirements for collision warning (CWS) and collision avoidance systems (CAS) that address other forms of motion than forward/reverse and rotation for: — earth-moving machinery as defined in ISO 6165, — mobile underground mining machinery as defined in ISO 19296, rock drill rigs as defined in ISO 22935-5, and — road construction machinery as defined in ISO 22242. Clauses 5, 6, 7, and 8 do not consider machine height beyond that of height in travel position as established by machine manufacturer. The requirements for forward / reverse motion are stated in ISO 21815-3:2023 and for swing/rotation motion in ISO 21815-4:20XX. This document covers — collision warning and avoidance for articulation movement by speed reduction, stopping, or motion inhibit, Note: Steering the machine whilst in forward/reverse motion is not considered as articulation motion. — collision warning and avoidance for 4-wheel steer motion by speed reduction, stopping, or motion inhibit, — collision warning and avoidance for motion of towed trailers in reverse by speed reduction, stopping, or motion inhibit, — collision warning and avoidance for differential speed, skid turning, counter rotation motion by speed reduction, stopping, or motion inhibit, — collision warning and avoidance for telescopic extension/ retraction motions, and — collision warning and avoidance for vertical motions i.e. height or depth For articulation this document considers • a stationary machine when an articulation command is given • during articulation, where no linear motion takes place (i.e. forward / reverse). This document does not cover avoidance by automatic manoeuvring (e.g. steering) away from the object. The system described in this standard is intended to assist the operator of the machine. The responsibility for safe operation of the machine remains with the machine operator. This document is not applicable to collision warning and collision avoidance systems installed or manufactured before the date of its publication. Machines that are double articulated are excluded from the scope of this document.