If something falls off a robot, it is no longer part of that robot. Strictly according to the rules' wording (but not their spirit), this is not the case, as a robot is defined.
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Anything (that has passed inspection) that a team places on the field at the beginning of a match.
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On the other hand, since parts may not detach from the robot on purpose (also in the rules), it is safe to say the only reason something should detach is because of damage. Thus, the detached component becomes debris and therefore no longer part of the robot. FIRST has always played and ruled this way (as far as I can remember), and this is also dictated by common sense. If a robot loses a tiny part of its tread, that tread becomes debris. Heck, the distinction between a molecule of rubber on the ground and an arm that broke off from wear and tear cannot be made. If we say a detached component is still part of the robot and also needs to hang, then we are saying those pieces of tread and loose metal that fall off do too.