An elevator system having: a hoistway; an elevator car movable within the hoistway; a controller operationally coupled to the elevator car; a counterweight coupled to the elevator car and movable within the hoistway; and an approaching-hazard-warning-system that has: a warning system controller; a range finding sensor, operationally coupled to the warning system controller, and mounted to one of the elevator car, the counterweight and the hoistway wall, wherein, while operating in an inspection mode, the warning system controller is configured to receive sensor data from the range finding sensor, detect when a distance between the elevator car and the counterweight is less than a stop distance while the elevator car and the counterweight are moving toward each other, and execute a first responsive action including one or more of slowing the elevator car by communicating with the car controller, stopping the elevator car and sounding a first audible alert.