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1. Should the libero tracker have notified me immediately by sounding the horn? At what point should the LT let me (R2) know?
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Absolutely! The libero in the front row is illegal once the serve is beckoned/contacted so the LT should notify you on contact.
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2. What is the violation? I could not find any specific mention of a penalty for the libero playing in the front row. Through inference and assumption, the best I could come up with is an illegal replacement.
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Illegal Alignment/Out of Rotation since the Libero is not allowed to play in the front row.
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3. Besides being more aware and catching it in the first place, what should we have done with this situation?
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That's about it except for having your table people working with you.
BTW, the Libero replacement during the time-out was illegal since an exchange is not allowed during a Time-Out and should have been sanctioned. Since you caught the switch after the Time-Out, the illegal replacement should have been sanctioned with an Unnecessary Delay Time-Out. Per Rule 10-4 Penalty #1:
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PENALTIES:
1. Unnecessary delay is charged to the offending team when an illegal libero replacement takes place prior to the whistle/signal for serve. If identified after whistle/signal for serve, illegal alignment results (loss of rally/point). In all cases, the illegal libero must enter legally or be replaced by a legal player.
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