The top paragraph of page 6 (the end of section 3.2.4.2) has a pretty clear example:
Quote:
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If a CLIMB is considered unacceptable (e.g. a robot has touched non-adjacent Levels or more than 2 Levels at a time) ...
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This says your robot may extend into the Levels whenever it wants (subject the the 84" rule (G22). Your robot may only touch Level 0 and Level 1 (the ground and the lowest bars) then Level 1 and Level 2, etc. Your robot must touch Levels in sequential order per 3.2.4.2.A.