(a) Time for Request. All requests for legal instructions to the jury shall be submitted at the close of the evidence, or at such earlier time as the trial judge shall reasonably direct. All requests must include accurate citation to authorities relied upon. (b) Objections to Charge. Notwithstanding any request for legal instructions, the parties shall be given the opportunity to object to the giving or failure to give an instruction before the jury retires, but out of the hearing of the jury. Any objection shall state distinctly the matter objected to and the grounds for objection. Failure to object in accordance with this rule shall constitute a waiver of objection. This rule replaces Circuit Court Rule 11, and is taken from Rule 51, SCRCP, and Rule 30, Fed. R. Crim. P. (version effective prior to August 1, 1987).