General Provisions
Except murder and death-punishable offences against the State, nothing is an offence if done under threats reasonably causing fear of instant death - unless the person voluntarily placed themselves in that situation (like knowingly joining a criminal gang).
This is a duress defence: being forced to commit a (non-murder) crime under genuine, immediate threat of death excuses the act - but this protection doesn't extend to someone who voluntarily got themselves into that dangerous situation in the first place, like knowingly joining a criminal gang.
Someone forced at gunpoint to assist criminals in a robbery, under genuine immediate threat of death, may have a duress defence under this section - but someone who voluntarily joined the criminal gang in the first place cannot claim this defence for acts they're later pressured into by their own associates.