In 2013 if you designed your robot to be a climber, then yes.
In fact, in FRC 4607's rookie year our robot was designed to be a climber and could reach the 2nd rung. Our climbing apparatus was set on a 22.5lb stainless steel 1/4" slab that was positioned on sliding rails and was moved by an acme lead screw.
HOWEVER, we used black and white wiring... a no-no that we neglected to search out in the rule book. That and one of our CIM shafts stuck out 3/8" beyond the frame.
After a full thursday of not practicing and rebuilding our robot -
voila! Peanut the defensive robot that could climb for 10 points!
We did well considering our failures...