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Warm-Up Pitches

I have seen many teams warm-up (questionable) before he actually takes the mound during an inning. The coach will come out and give the ball to the player who is gonna come in and have him throw while he talks to the pitcher on the mound. Then after their conversation and the umpire finally makes them break it up, he will trade pitchers and bring in the guy who has been throwing this whole time. Is this legal? Do you give him 8 more warm-up pitches? Is it stretching the rules?

I have heard umpires say that you can not bring the ball on the field during this time. Yet, the same umpires will let a kid coming in the game or a pitcher being taken out throw to the first baseman to get used to it. What is the difference?
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