Here is J/R's take on this:
Pitchers:- a) must take signs from the catcher while in contact.
- b) cannot habitually disengage the rubber after taking a sign,
- c) upon disengaging, must separate their hands.
No penalty is mandated or suggested for violation of (a) through (c). Such action is simply prohibited.
This very clearly intends for the pitcher to
only take signs while in contact with the rubber, and at
no other time.
Also, the following is a balk:
It is a balk when the pitcher:
15......... tries to deceive a runner or the batter by imitating and throwing a pitch while not in contact with the rubber, or by quickly stepping on the rubber and pitching without taking a sign. Such actions constitute an illegal pitch.
Notice that the penalty is for quickly stepping on the rubber and pitching. If the pitcher does not quick pitch the batter, no sign would be required.
Perhaps this stuff about "simulating taking a sign" just means pause to let the batter get reasonably set in the box. That's my take on it.