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OSHA 29 CFR 1926 Subpart M requires fall protection for residential work at six feet or more, and a written, site-specific plan whenever conventional systems are infeasible. The plan has to name a competent person and stay available on the job site.
Roofing, framing, siding, gutter and solar crews, and any residential contractor working above six feet.
Requirements vary by jurisdiction. Always confirm final submittal requirements with the authority having jurisdiction before filing.