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FED 6-1-1: "He shall take his sign from the catcher with his pivot foot in contact with the pitcher’s plate."
The only penalty specified for all of article 1 is a balk/ball for an illegal pitch. Since this provision does not mention a pitch, it is not subject to that penalty. Hence, there is no penalty for this "infraction."
The purpose of the rule is to prevent quick pitches. If he's not quick pitching, he's OK. Don't pick boogers.
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Cheers,
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