Passing during a match

I have a question regarding passing during a match. Is the following scenario legal: Robots A and B passing the same ball back and forth 6 times (as an example), then both Robots score 6 goals afterwards. Since there are 6 goals scored, will the 6 consecutive passes count or do passes have to be separated by goals?

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Only one ‘pass’ would be counted, unless the ball were to leave the playing area in between ‘passes’.