Good question!.....Over 16' I don't think I have an issue requiring permanent access....Anything lower is kinda left in limbo....I will wait for the experts on this...
306.5 Equipment and appliances on roofs or elevated structures. Where equipment requiring access and appliances are installed on roofs or elevated structures at a height exceeding 16 feet (4877 mm), such access shall be provided by a permanent approved means of access, the extent of which shall be from grade or floor level to the equipment and appliances' level service space. Such access shall not require climbing over obstructions greater than 30 inches (762 mm) high or walking on roofs having a slope greater than four units vertical in 12 units horizontal (33-percent slope). Where access involves climbing over parapet walls, the height shall be measured to the top of the parapet wall.