Hanging

[Taylor]

Originally Posted by Steve W

No.
According to the definitions in section 8.2 it says, quote:

FINALE CONFIGURATION - The physical configuration and orientation of the ROBOT while playing during the FINALE phase of the game (i.e. the last 20 seconds of the MATCH). This configuration is dynamic, and may change multiple times during the FINALE phase of a MATCH.

and

NORMAL CONFIGURATION – The physical configuration and orientation of the ROBOT when the MATCH is started. This is the state of the ROBOT immediately before being enabled by the Field Management System, before the ROBOT takes any actions, deploys any mechanisms, or moves away from the starting location. This configuration is static, and does not change during a single MATCH (although it may change from MATCH to MATCH).

The only time you can be out of normal config is during Finale

I disagree - <G30>c states that "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."
Your robot can extend at any time during a match, as long as it is in contact with the alliance tower. It will not be protected, however, until the FINALE portion of the game.