Begin at Koppal Fort as early as daylight and allow the first two hours for the climb and descent. The walls are most legible in angled light, and there is little reason to be on the exposed rock at noon.
Late morning: Gavimath and Ashoka
Take an auto to the Gavimath side. See the protected rock edict without touching its surface, then enter the matha as a guest rather than as if it were an archaeological enclosure. Keep the middle of the day for lunch and rest in town.
Late afternoon: Palkigundu
Finish with the separate Palkigundu hillock and its second edict. Carry water and leave enough daylight for the descent. If rain has made the boulders slick, omit the climb rather than forcing the itinerary.