This G102 update is good. The contact vs intrusion language was confusing. Now a robot mechanism that is inside the portal, but not touching anything, is not in violation of the rule. Right?
Correct, until a human reaches in, which causes other rules issues.
At least, that’s how I read it.
That’s my interpretation. I think the way it was before the incursion could be momentary, meaning if a robot was inside the portal for more than ~3s and then contacted something that would be a violation (the penalty for which is that the robot is disabled). With the new wording as long as the contact is momentary there is no violation, no matter how long the robot is inside the portal.