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I will use another rule citation then.
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MLB RULE 8.01
(d) If the pitcher makes an illegal pitch with the bases unoccupied, it shall be called a ball unless the batter reaches first base on a hit, an error, a base on balls, a hit batter or otherwise.
Rule 8.01(d) Comment: A ball which slips out of a pitcher’s hand and crosses the foul line shall be called a ball; otherwise it will be called no pitch. This would be a balk with men on base.
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