(a) At or Before the Close of Evidence. A party may, at the close of the evidence or at an earlier reasonable time that the court directs, file and furnish to every other party written requests that the court instruct the jury on the law as set forth in the requests.(b) After the Close of Evidence. After the close of the evidence, a party may:(1) file requests for instructions on issues that could not reasonably have been anticipated at an earlier time for requests set under Rule 51.01(a), and(2) with the court's permission file untimely requests for instructions on any issue.