ISO/FDIS 22915-4
(Main)Industrial trucks — Verification of stability — Part 4: Pallet-stacking trucks, double-stackers and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
- Abstract
This part of ISO 22915 specifies tests for verifying the stability of — pallet stackers, — double stackers, and — order-picking trucks with an operator position elevating up to and including 1 200 mm lift height, measured from the ground to the floor of the platform. It is applicable to these types of industrial truck, whether with tilting or non tilting masts or fork arms, having a rated capacity up to and including 5 000 kg. It is also applicable to such trucks operating under the same conditions when equipped with load-handling attachments and to order-picking trucks with an elevating operator's position up to and including 1 200 mm lift height when equipped with an additional load lifting device(s).
- Status
- Not Published
- Technical Committee
- ISO/TC 110/SC 2 - Safety of powered industrial trucks
- Drafting Committee
- ISO/TC 110/SC 2/WG 11 - Stability
- Current Stage
- 5020 - FDIS ballot initiated: 2 months. Proof sent to secretariat
- Start Date
- 21-Sep-2026
- Completion Date
- 21-Sep-2026
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ISO/FDIS 22915-4 - Industrial trucks — Verification of stability — Part 4: Pallet-stacking trucks, double-stackers and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
REDLINE ISO/FDIS 22915-4 - Industrial trucks — Verification of stability — Part 4: Pallet-stacking trucks, double-stackers and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
ISO/FDIS 22915-4 is an ISO document about verifying the stability of pallet-stacking trucks, double-stackers, and order-picking trucks with an operator position elevating up to and including 1 200 mm. It specifies tilt-table tests for these trucks, including versions with tilting or non-tilting masts or fork arms, rated up to and including 5 000 kg, so manufacturers and test laboratories can check stability in a consistent way.
What does ISO/FDIS 22915-4 specify?
ISO/FDIS 22915-4 specifies the stability tests for the truck types named in the scope and shows how to set up the truck before each test. The document is organized into five clauses: scope, normative references, terms and definitions, test conditions, and verification of stability.
Clause 1 limits the application to pallet-stacking trucks, double-stackers, and order-picking trucks with an elevating operator position up to and including 1 200 mm. It also covers these trucks when fitted with load-handling attachments, and order-picking trucks with an additional load lifting device(s).
Clause 4 gives the test set-up rules. Clause 5 links those conditions to the stability verification matrix in Table 1, which is the core of the document.
What are the key requirements of ISO/FDIS 22915-4?
Test conditions and truck position
ISO/FDIS 22915-4 requires the general test conditions of ISO 22915-1. In practice, users start with the general stability method from Part 1 and then apply the truck-specific positions and heights in Part 4.
For tests 1, 2, 6, 7 and 8, the truck is positioned so that the driving/steering axle or the load axle is parallel to the tilt axis of the tilt table. For tests 3, 4, 5 and 9, the line M-N is parallel to the tilt axis. This matters because the truck must be turned to the exact orientation that represents the intended stability case.
Clause 4.2 also defines point M for several axle and wheel arrangements, including single and dual drive/steered wheels, stabilizer wheels, and articulated frames. Point N is the center of the contact area of the load wheel closest to the tilt axis. These definitions make the test repeatable across different truck layouts.
Datum point and lift height rules
Clause 4.3 controls the datum point used in Test 1. ISO/FDIS 22915-4 keeps the horizontal position of load datum point E unchanged as the load is elevated, and uses reference point F on the tilt table. For trucks with tilting masts or fork arms, the position may be corrected within the design limits of the truck.
Clause 4.4 sets the lift height for travel-simulation tests 2, 4, 5 and 8. The upper face of the fork arms at the heel must be 300 mm above the tilt table or as close as possible to the outrigger, whichever is higher. This standardizes the travel condition instead of leaving the truck at an arbitrary height.
Clause 4.5 gives the upper-load position for double-stackers carrying two loads. The upper load is set by the heel position of the upper forks relative to the elevated outrigger, with the value depending on whether the truck is intended for a 500 mm or 600 mm standard load centre distance.
Stability verification matrix
Clause 5 uses Table 1 to define the actual verification program. ISO/FDIS 22915-4 combines direction of test, load leading or trailing, travelling or stacking/retrieving mode, load at load centre or without load, lift height, mast position, and tilt-table angle. This is the part that tells the reader which test applies to which truck condition.
Table 1 also allows the least stable attainable combination of lift height, load, and travel speed, and travel speed v may be zero. If the truck has a device that automatically limits speed when the forks or operator position are elevated, the reduced speed is used. That means the test should represent the worst case the truck can actually reach.
Tests 3 and 4 require the truck to be at its least stable when it has a tilting mast or tilting fork arms. Test 4 is for double-stackers carrying two loads, and tests 7 and 9 apply only to order-picking trucks. The table also gives required tilt-table angles in relation to maximum gradient i and travel speed v for some cases.
What terms does ISO/FDIS 22915-4 define?
- Pallet-stacking trucks - Trucks used to stack pallets, covered here for stability verification.
- Double-stackers - Trucks that handle two loads at different levels, including the special double-load travel case.
- Order-picking trucks - Trucks used for order picking, with an elevating operator position up to and including 1 200 mm in this part.
- Tilt table - The test device whose angle is changed to check stability.
- Driving/steering axle - The axle used to drive and steer the truck and to set test position.
- Load axle - The axle on the load side used in the tilt-table positioning rules.
- Datum point - A reference point used to keep the load position consistent during Test 1.
- Rated capacity - The maximum load capacity for which the truck is covered here, up to and including 5 000 kg.
Who uses ISO/FDIS 22915-4?
ISO/FDIS 22915-4 is used by industrial truck manufacturers, test laboratories, and safety or quality teams working with warehouse and materials-handling equipment. They use it when designing trucks, planning tilt-table tests, checking truck configurations with attachments, and documenting stability performance for pallet-stacking trucks, double-stackers, and order-picking trucks.
What changed in ISO/FDIS 22915-4 from the previous edition?
ISO/FDIS 22915-4 is the third edition and it cancels and replaces ISO 22915-4:2018.
The stated changes are:
- truck terminology updated according to ISO 5053-1 and ISO 5053-3
- Figures 1 and 2 updated to show a stacker instead of a straddle truck
- editorial changes to the text
- bibliography updated
- Table 1 split into Figure 3, Table 1-4, and Figure 5, with drawings adjusted for better comprehensibility
Which standards are used with ISO/FDIS 22915-4?
- ISO 5053-1 - gives the vocabulary for types of industrial trucks.
- ISO 5053-3 - gives the vocabulary for accessories and components.
- ISO 22915-1 - provides the general stability verification rules and test conditions used by this part.
What does the ISO/FDIS 22915-4 document contain?
ISO/FDIS 22915-4 contains the test setup rules, the stability verification matrix, and the figures that define truck orientation on the tilt table. Figure 1 identifies the load and driving/steering axles, Figure 2 shows the datum point positions, and Figures 3 to 5 show the truck positions used for the different tests.
Table 1 is the main working table for verification. It links each test to the truck condition, lift height, mast position, load arrangement, and required tilt-table angle. Clause 4 provides the positioning rules, and Clause 5 turns those rules into the test program used for design checks, testing, and stability verification.
Relations
- Effective Date
- 24-Aug-2024
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ISO/FDIS 22915-4 - Industrial trucks — Verification of stability — Part 4: Pallet-stacking trucks, double-stackers and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
REDLINE ISO/FDIS 22915-4 - Industrial trucks — Verification of stability — Part 4: Pallet-stacking trucks, double-stackers and order-picking trucks with operator position elevating up to and including 1 200 mm lift height
Frequently Asked Questions
ISO/FDIS 22915-4 is a draft published by the International Organization for Standardization (ISO). Its full title is "Industrial trucks — Verification of stability — Part 4: Pallet-stacking trucks, double-stackers and order-picking trucks with operator position elevating up to and including 1 200 mm lift height". This standard covers: This part of ISO 22915 specifies tests for verifying the stability of — pallet stackers, — double stackers, and — order-picking trucks with an operator position elevating up to and including 1 200 mm lift height, measured from the ground to the floor of the platform. It is applicable to these types of industrial truck, whether with tilting or non tilting masts or fork arms, having a rated capacity up to and including 5 000 kg. It is also applicable to such trucks operating under the same conditions when equipped with load-handling attachments and to order-picking trucks with an elevating operator's position up to and including 1 200 mm lift height when equipped with an additional load lifting device(s).
This part of ISO 22915 specifies tests for verifying the stability of — pallet stackers, — double stackers, and — order-picking trucks with an operator position elevating up to and including 1 200 mm lift height, measured from the ground to the floor of the platform. It is applicable to these types of industrial truck, whether with tilting or non tilting masts or fork arms, having a rated capacity up to and including 5 000 kg. It is also applicable to such trucks operating under the same conditions when equipped with load-handling attachments and to order-picking trucks with an elevating operator's position up to and including 1 200 mm lift height when equipped with an additional load lifting device(s).
ISO/FDIS 22915-4 is classified under the following ICS (International Classification for Standards) categories: 53.060 - Industrial trucks. The ICS classification helps identify the subject area and facilitates finding related standards.
ISO/FDIS 22915-4 has the following relationships with other standards: It is inter standard links to ISO 22915-4:2018. Understanding these relationships helps ensure you are using the most current and applicable version of the standard.
ISO/FDIS 22915-4 is available in PDF format for immediate download after purchase. The document can be added to your cart and obtained through the secure checkout process. Digital delivery ensures instant access to the complete standard document.
Standards Content (Sample)
FINAL DRAFT
International
Standard
ISO/TC 110/SC 2
Industrial trucks — Verification of
Secretariat: SIS
stability —
Voting begins on:
2026-09-21
Part 4:
Pallet-stacking trucks, double-
Voting terminates on:
2026-11-16
stackers and order-picking trucks
with operator position elevating
up to and including 1 200 mm lift
height
Chariots de manutention — Vérification de la stabilité —
Partie 4: Chariots à fourche recouvrante, chariots à double
fourche et chariots préparateurs de commandes avec un poste de
conduite élevable ayant une hauteur de levée de 1 200 mm inclus
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
WITH THEIR COMMENTS, NOTIFICATION OF ANY
RELEVANT PATENT RIGHTS OF WHICH THEY ARE AWARE
AND TO PROVIDE SUPPOR TING DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
Reference number
FINAL DRAFT
International
Standard
ISO/TC 110/SC 2
Industrial trucks — Verification of
Secretariat: SIS
stability —
Voting begins on:
Part 4:
Pallet-stacking trucks, double-
Voting terminates on:
stackers and order-picking trucks
with operator position elevating
up to and including 1 200 mm lift
height
Chariots de manutention — Vérification de la stabilité —
Partie 4: Chariots à fourche recouvrante, chariots à double
fourche et chariots préparateurs de commandes avec un poste de
conduite élevable ayant une hauteur de levée de 1 200 mm inclus
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
WITH THEIR COMMENTS, NOTIFICATION OF ANY
RELEVANT PATENT RIGHTS OF WHICH THEY ARE AWARE
AND TO PROVIDE SUPPOR TING DOCUMENTATION.
© ISO 2026
IN ADDITION TO THEIR EVALUATION AS
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
or ISO’s member body in the country of the requester.
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: +41 22 749 01 11
Email: copyright@iso.org
Website: www.iso.org
Published in Switzerland Reference number
ii
Contents Page
Foreword .iv
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Test conditions . 2
4.1 General .2
4.2 Position of the truck on the tilt table .2
4.2.1 Load and driving/steering axles .2
4.2.2 Tests 1, 2, 6, 7 and 8 .2
4.2.3 Tests 3, 4, 5 and 9 .2
4.3 Datum point positions .3
4.3.1 General .3
4.4 Lift height for tests simulating travel .4
4.5 Lift height of the upper load for tests simulating travel when the truck is used as a
double-stacker .4
5 Verification of stability . 4
iii
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO technical committees. Each member body interested in a subject for which a technical committee
has been established has the right to be represented on that committee. International organizations,
governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely
with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are described
in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the different types
of ISO document should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (see www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent
rights in respect thereof. As of the date of publication of this document, ISO had not received notice of (a)
patent(s) which may be required to implement this document. However, implementers are cautioned that
this may not represent the latest information, which may be obtained from the patent database available at
www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and expressions
related to conformity assessment, as well as information about ISO's adherence to the World Trade
Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 110, Industrial trucks, Subcommittee SC 2,
Safety of powered industrial trucks.
This third edition cancels and replaces the second edition (ISO 22915-4:2018), which has been technically
revised.
The main changes are as follows:
— truck terminology has been updated according to ISO 5053-1 and ISO 5053-3;
— Figure 1 and Figure 2 have been updated to show a stacker instead of a straddle truck;
— editorial changes to the text;
— the Bibliography has been updated;
— Table 1 has been split into Figures 3-5 and drawings have been adjusted for better comprehensibility.
A list of all parts in the ISO 22915 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
iv
FINAL DRAFT International Standard ISO/FDIS 22915-4:2026(en)
Industrial trucks — Verification of stability —
Part 4:
Pallet-stacking trucks, double-stackers and order-picking
trucks with operator position elevating up to and including 1
200 mm lift height
1 Scope
This document specifies tests for verifying the stability of the following types of trucks as defined in
ISO 5053-1:
a) pallet-stacking trucks;
b) double-stackers;
c) order-picking trucks with an operator position elevating up to and including 1 200 mm lift height,
measured from the ground to the floor of the platform.
It is applicable to these types of industrial trucks whether they have tilting or non-tilting masts or fork arms,
having a rated capacity up to and including 5 000 kg.
It is also applicable to trucks that operate under the same conditions when equipped with load-handling
attachments and order-picking trucks with an elevating operator's position up to and including 1 200 mm
lift height when equipped with an additional load lifting device(s).
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 5053-1, Industrial trucks — Vocabulary — Part 1: Types of industrial trucks
ISO 5053-3, Industrial trucks — Vocabulary — Part 3: Accessories and components
ISO 22915-1, Industrial trucks — Verification of stability — Part 1: General
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 5053-1, ISO 5053-3 and ISO 22915-1
apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
-------
...
SISO/DISISO/FDIS 22915-4:2025(en)
ISO/TC 110/SC 2/WG 11
Secretariat: SIS
Date: 2025-10-272026-09-07
Industrial trucks — Verification of stability —
—
Part 4:
Pallet-stacking trucks, double-stackers and order-picking trucks with
operator position elevating up to and including 1 200 mm lift height
Chariots de manutention — Vérification de la stabilité —
Partie 4: Chariots à fourche recouvrante, chariots à double fourche et chariots préparateurs de commandes
avec un poste de conduite élevable ayant une hauteur de levée de 1 200 mm inclus
FDIS stage
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication
may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying,
or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO
at the address below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel.Phone: + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail: copyright@iso.org
Website: www.iso.org
Published in Switzerland
MUST BE USED
FOR FINAL
Contents
Foreword . iv
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Test conditions . 2
4.1 General. 2
4.2 Position of the truck on the tilt table . 2
4.3 Datum point positions . 3
4.4 Lift height for tests simulating travel . 5
4.5 Lift height of the upper load for tests simulating travel when the truck is used as a
double-stacker . 5
5 Verification of stability . 5
iii
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO technical committees. Each member body interested in a subject for which a technical committee has been
established has the right to be represented on that committee. International organizations, governmental and
non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the
International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are described
in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the different types of
ISO document should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (see www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent rights
in respect thereof. As of the date of publication of this document, ISO had not received notice of (a) patent(s)
which may be required to implement this document. However, implementers are cautioned that this may not
represent the latest information, which may be obtained from the patent database available at
www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and expressions
related to conformity assessment, as well as information about ISO's adherence to the World Trade
Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 110, Industrial trucks, Subcommittee SC 2,
Safety of powered industrial trucks.
This third edition cancels and replaces the second edition (ISO 22915-4:2018), which has been technically
revised.
The main changes are as follows:
— — truck terminology has been updated according to ISO 5053-1 and ISO 5053-3;
— Figure 1 — Figure 1 and Figure 2 Figure 2 have been updated to show a stacker instead of a straddle truck;
— — editorial changes to the text;
— — the Bibliography has been updated;
— Table 1 — Table 1 has been split into Figure 3 Table 1-4-Figure 5 and drawings have been adjusted for
better comprehensibility.
A list of all parts in the ISO 22915 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
iv
ISO/DISFDIS 22915-4:20252026(en)
Industrial trucks — Verification of stability —
—
Part 4:
Pallet-stacking trucks, double-stackers and order-picking trucks with
operator position elevating up to and including 1 200 mm lift height
1 Scope
This document specifies tests for verifying the stability of the following types of trucks as defined in ISO 5053-
1:
a) a) pallet-stacking trucks;
b) b) double-stackers;
c) c) order-picking trucks with an operator position elevating up to and including 1 200 mm lift
height, measured from the ground to the floor of the platform.
It is applicable to these types of industrial trucks whether they have tilting or non-tilting masts or fork arms,
having a rated capacity up to and including 5 000 kg.
It is also applicable to trucks that operate under the same conditions when equipped with load-handling
attachments and order-picking trucks with an elevating operator's position up to and including 1 200 mm lift
height when equipped with an additional load lifting device(s).
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 5053--1, Industrial trucks — Vocabulary — Part 1: Types of industrial trucks
ISO 5053--3, Industrial trucks — Vocabulary — Part 3: Accessories and components
ISO 22915--1, Industrial trucks — Verification of stability — Part 1: General
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 5053-1, ISO 5053-3 and ISO 22915-
1 apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— — ISO Online browsing platform: available at https://www.iso.org/obp
— — IEC Electropedia: available at https://www.electropedia.org/
MUST BE USED
FOR FINAL
4 Test conditions
4.1 General
The test conditions shall be in accordance with ISO 22915-1.
4.2 Position of the truck on the tilt table
4.2.1 Load and driving/steering axles
The load axle and the driving/steering axle are outlined in Figure 1 Figure 1.
C
A
A
C
Key
A-A longitudinal centre plane of truck
B-B driving/steering axle
C-C load axle
Figure 1 — Load and driving/steering axles
4.2.2 Tests 1, 2, 6, 7 and 8
The truck shall be positioned on the tilt table so that its driving/steering axle, B–B, or load axle, C–C, are
parallel to the tilt axis, X–Y, of the tilt table. See Figure 3 Table 2.
4.2.3 Tests 3, 4, 5 and 9
The truck shall be positioned on the tilt table with the line, M–N, parallel to the tilt axis, X–Y, of the tilt table.
See Figure 4 Tables 3 and Figure 5 4.
ISO/DISFDIS 22915-4:20252026(en)
Point M is the point on the driving/steering axle B-B projected onto the tilt table. It is defined as follows:.
a) a) For trucks with a single non-articulating drive/steered wheel: Point M shall be the vertical
projection onto the tilt table of the point of intersection between the centreline of the driving/steering
axle and the centreline of the drive wheel width.
b) b) For trucks with a single or dual non-sprung stabilizer wheel: Point M shall be the vertical
projection onto the tilt table of the point of intersection between the centreline of the stabilizer wheel axle
and the centreline of the stabilizer wheel width (single) or the centreline between the two stabilizer
wheels (dual), with the centreline of the stabilizer wheel axle being positioned parallel to X–Y. The
stabilizer wheel shall be turned away from X-Y to the orientation that produces minimum stability.
c) c) For trucks with a driving/steering axle in an articulating frame articulated in the centre plane
of the truck: Point M shall be the vertical projection onto the tilt table of the point of intersection between
the lateral axis of the articulating frame and the centre plan
...