A machine, controller, and control method

A machine 1 having a machine body 2 and a load handling apparatus such as a lifting arm 6, 7 moveable by a movement actuator 10 also has a controller which receives from sensor 14 a signal representative of the orientation such as the angle of the load handling apparatus 6, 7 with respect to a reference orientation such as horizontal ground H or the direction of gravity G and a signal representative of a moment of tilt of the machine 1 which may be a signal representative of the load on an axle of the machine 1. The controller issues a signal for use by an element of the machine 12 including the movement actuator 10, which restricts or substantially prevents a movement of the load handling apparatus 6, 7 when a value of the signal representative of the moment of tilt reaches a threshold value, the threshold value being dependent on the signal representative of the orientation of the load handling apparatus 6, 7 with respect to the reference orientation H, G. A first value of the threshold may be lower than a second value and may correspond to a first, lower orientation of the load handling apparatus. Sensor 14 may be an accelerometer or gyroscope.