Official Q&A: VEX V5 Robotics Competition 2025-2026: Push Back

Could I please get some guidance on how to practically referee the goalkeeping part of SG10 ?

<SG10> says:

A Robot can only reach into any open portion of a Goal to legally move Blocks (e.g., into or out of the Control Zone or the entire Goal). If a Head Referee sees a Robot that is Goalkeeping in the Driver Controlled Period of a Head-to-Head Match, that Robot should be verbally warned away and should receive an SG10 Violation if it remains.

This reads as "the second a referee tells a robot to get out of the goal, they have to give a minor violation to that robot". Very often I've given and seen other refs give the verbal command for robots to get out of the goal but almost never have I seen that result in a violation. I think practically referees have handled it by telling a robot to get out of a goal and then giving a fair/reasonable amount of time for the robot to exit the goal. If the robot complies then there is no violation and if the robot stays in for too long or them staying has some sort of game score changing consequence then they get a violation.

1. Is "the second a referee tells a robot to get out of the goal, they have to give a minor violation to that robot" the correct interpretation/practical application of SG10 Goalkeeping?
2. Is "telling a robot to get out of a goal and then giving a fair/reasonable amount of time for the robot to exit the goal. If the robot complies then there is no violation and if the robot stays in for too long after being told to leave or them staying has some sort of game score changing consequence then they get a violation" the correct way to handle refereeing the goalkeeping part of SG10
3. Are referees supposed to wait until a robot has been in the goal for too long and then verbally tell the robot to get out of the goal and give them the violation?
4. Is giving a verbal warning a requirement to getting the violation or can a robot get a goalkeeping violation even if the referee didn't tell them to get out of the goal in that moment?
5. I've also seen a couple teams try to stay in the goal as long as possible and until the referee tells them to leave so they can try to maximize their time in the goal. Do you have any advice or guidance for how to handle this scenario? It seems different than a team accidentally staying in the goal for a little too long as this scenario feels like intentionally trying to wait until they are getting the violation or just accepting the violation as a trade for being in the goal longer.