Quote:
R22. ROBOTS are required to use BUMPERS to protect all outside corners of the FRAME
PERIMETER. For adequate protection, at least 6 in. (~16 cm) of BUMPER must be placed on
each side of each outside corner (see Figure 8-1). If a FRAME PERIMETER side is shorter than
6 in. (~16 cm)
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This is reduced from 2016's 8 inches.