Exodus 21:20-21 (ESV):
20 “When a man strikes his slave, male or female, with a rod and the slave dies under his hand, he shall be avenged. 21 But if the slave survives a day or two, he is not to be avenged, for the slave is his money.
Instead of prohibiting any beating of slaves, this passage seems to be prohibiting only extreme versions where the beating results in the slave's death. This gives me the impression that there is still room for "legitimate beating" of one's slave. Is this the case? Are there valid and legitimate reasons for beating up one's slave, provided that he/she doesn't die as a result?