Balk Without Runners on Base?

 
No out and no runners on base. The relief pitcher is pitching from the set position. The pitcher fails to come to a "complete and discernible stop" and delivers the ball to the batter.

The offensive coach wants a balk, but the defense coach's quote sounds reasonable: "With the bases unoccupied and pitching from the set position, the pitcher does not need to come to a complete and discernible stop (after all, there are no runners on base for the pitcher to improperly deceive)."

What is the call?

Call
In NF (and only in NF), the pitcher must come set when pitching from the
set position (NF 6-1-3). Even though there are no runners on base to improperly deceive, if the pitcher does not come to a "complete and discernible stop" when pitching from the set position, it is an illegal pitch and an immediate dead ball. A ball is added to the batter's count.