[EricH]

Originally Posted by 340x4xLife

I've had discussions with team members about...

<G30> ROBOT Volume – During a MATCH, no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, except as follows:

c. TOWER Contact ROBOT Volume - During a MATCH, ROBOTS in contact with their ALLIANCE TOWER may extend beyond their NORMAL CONFIGURATION volume but may not exceed the FINALE CONFIGURATION maximum volume.

Seems that as long as your touching your tower, you can hang at anytime during the match.

Is this correct?

That's the reading I get. You don't get the protections, but if you can get to the tower and stay in contact with it, you can hang at any time.