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Re: Rule clarification (robot length)
G22 defines the robot height (60 or 84) in relation to the robot.
G23 defines the horizontal dimension of the robot. It does not specifically reference to the robot, but it could be taken as implied since G22 does.
It would seem that when climbing, the 54" cylinder & 84" height would be referenced to the robot. But as others have said, my opinion is not the one that matters.
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