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FED is simple. Once the pitcher intentionally comes in contact with the rubber, the following penalties are enforced for a dropped ball (whether pitched or dropped from the hand or glove):
No runners; ball crosses the foul line: a ball is added to the count.
No runners; ball DOES NOT cross the foul line: no pitch.
Runners; ball crosses the foul line: a ball is added to the count.
Runners; ball DOES NOT cross the foul line: balk.
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