In LL they allow the pitcher to be replaced. I have been told this as well as read this (or something similar) on some LL websites. Here's a quote from one:
"The withdrawal of an Ineligible pitcher after that pitcher is announced or after a warm-up pitch is delivered but before that player has pitched a ball to a batter, shall not be considered a violation. Little League officials are urged to take precautions to prevent protests. When a protest situation is imminent, the potential offender should be notified immediately."
In NFHS there is a case book ruling that implies that an ineligible pitcher may be replaced prior to making a pitch even after taking warm-ups.
6.1.6 Situation B: F1 is a replacement relief pitcher. He attempts to pick off R2 from 1B. The offensive's team's coach realizes that F1 has exceeded his number of pitched innings per the state association pitching restrictions and requests from the UIC that his opponent forfeit the game. The defensive team argues that F1 has not thrown a pitch and therefore replaces him with a legal substitute.
Ruling: The forfeit is not honored. F1's attempt to pick off R2 by definition is not considered to be a pitch. The defensive coach is allowed to replace him with an eligible pitcher.
I'm guessing the gist of the rule interpretations are that the penalty for illegal substitution (restricted to bench in NFHS) supercedes the requirement of the relief pitcher to face a batter until the batter is put out, reaches 1st or a 3rd out has been made.
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