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This document defines requirements for collision warning systems (CWS) and collision avoidance systems (CAS) that address types of motion not specifically covered in ISO 21815 Parts 3 and 4 for: Clauses 5, 6, 7, and 8 do not consider machine height beyond that of height in travel position as established by the 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: This document does not cover avoidance by automatic manoeuvring (e.g. steering) away from the intended object. The system described in this document 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.