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I found this balk penalty ruling the Baseball Almanac website:
PENALTY: The ball is dead, and each runner shall advance one base without liability to be put out, unless the batter reaches first on a hit, an error, a base on balls, a hit batter, or otherwise, and all other runners advance at least one base, in which case the play proceeds without reference to the balk.
It says the balk is ignored if the batter reaches on a base on balls.
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