[EricH]

Originally Posted by yara92

1) What is the relationship between the "Normal Configuration" and "frame perimeter"? In the "Normal Configuration" it refers to the size of the rectangular "space" whereas the perimeter refers to the static frame.

The maximum size of the rectangular space is the maximum size of the normal configuration. The frame perimeter must be inside the space.

2) Regarding G30 a - if we build the frame smaller than the allowed "normal configuration" size, can we have a manipulator, which is below the bumpers, extend out side of the frame but within the allowed "normal configuration" measurements? Would a manipulator such as this be confined to only being extended for 2 seconds?

<G30> allows you to extend any ball contact mechanism outside the frame perimeter for 2 seconds only. If you build the frame smaller, then you cannot have anything going beyond the frame perimeter for more than 2 seconds.