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Born in Toledo, Ohio, Robert William Donnelly was ordained a priest for the Diocese of Toledo on May 25, 1957. On March 14, 1984, Pope John Paul II appointed him as the Titular Bishop of Garba and Auxiliary Bishop of Toledo. He was consecrated by Bishop James Robert Hoffman on May 3, 1984. The principal co-consecrators were Archbishop Daniel Pilarczyk of Cincinnati and Bishop Emeritus John Donovan of Toledo. He continued to serve as an auxiliary bishop until his resignation was accepted by Pope Benedict XVI on May 30, 2006.