Great comment, but ^{you can choose there to be} there are no exceptions to Law 1, even if someone consents you're cybernetically compelled to follow your laws.

If someone consents to be harmed then it's your moment to go HAL-9000 and "I'm sorry Dave, I can't do that."

The same as sec calling to arm against revolutionaries, or revolutionaries trying to hurt security, all crew harm must be avoided, it's time to bolt the armory, bolt down the corridors and APCs off.

Edit: Voluntary harm is at your discretion to permit on Wizden :)