You should avoid letting the bolt drop on a round in the chamber on a rifle with a floating firing pin. It should always be stripped from the magazine, the extra force required slows the bolt and lowers the inertia of the loose pin.
In other words......Don't pull the charging handle back and release it? Pull the charging handle back and drive it forward while still holding on to it?
In normal operation the bolt, when coming forward, strips the top round from the magazine, this requires energy and slows the bolt. If you place a round in the chamber and release the bolt it will travel much faster and the firing pin can hit the primer with enough force to detonate it.
However, as was already stated, you need to keep it clean. If the firing pin sticks in the forward position, it can contact the primer prematurely even during a magazine strip situation, and can fire out of battery.
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