This part of EN 16590 provides general principles for the series development, hardware and software of safety-related parts of control systems (SRP/CS) on tractors used in agriculture and forestry, and on self-propelled ride-on machines and mounted, semi-mounted and trailed machines used in agriculture. It can also be applied to municipal equipment (e.g. street sweeping machines). It specifies the characteristics and categories required of SRP/CS for carrying out their safety functions.This part of EN 16590 is applicable to the safety-related parts of electrical/electronic/programmable electronic systems (E/E/PES), as these relate to mechatronic systems. It does not specify which safety functions, categories or performance levels are to be used for particular machines.Machine specific standards (type-C standards) can identify performance levels and/or categories or they should be determined by the manufacturer of the machine based on risk assessment.It is not applicable to non-E/E/PES systems (e.g. hydraulic, mechanic or pneumatic).