Extension

[laplacier]

Originally Posted by IronicDeadBird

The frame perimeter is a barrier that extends vertically. So while within your perimeter you can reach up vertically infinitely, you can still only extrude 15 inches outside of your perimeter.

Better example, imagine sitting in a box you are allowed to reach up as high as you want straight up. The second you stick your hand 16 inches out of the box you get slapped on the wrist and told "no"

G17 also says quite clearly you cannot exceed 4ft 6in until 20 seconds remain. That means any extension vertically outside of that would be in violation of that rule. It says nothing about extending out the 2D plane around the robot, so the 15 inch extension rule applies there.