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The 2004 version of the Rules Instruction Manual says in reference to 8.05 (Majors and Minors, but not Junior and up)
"With no runner on base you only call an illegal pitch if (e) and/or (g) are committed. Otherwise, call nothing with no runners on base at any level of play."
(e) refers to a quick pitch.
(g) refers to making a motion to pitch while not touching the rubber.
Obviously these are infractions which tend to deceive the batter.
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