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Ben Sanderson made the initial breakthrough for Northamptonshire, bowling Brooke Guest for 28, before Keogh had Reece caught behind and captain David Lloyd lbw.
Madsen and Donald kept the scoreboard ticking, Donald sweeping Chahal square for six, but the bowler got his man when Donald swept a half-volley straight to Sales at square leg.
Chahal almost dismissed Martin Andersson next ball but Sales, now at short leg, could not hold onto a sharp chance.
Madsen was bowled brilliantly by Chahal and Zak Chappell fell four balls later when Luke Procter took a diving catch running in from mid-off. Keogh then had Andersson taken sharply by Justin Broad at leg slip.
Chahal wrapped up the innings when Alex Thomson top-edged an attempted sweep, Prithvi Shaw running behind the stumps to take the catch, and Jack Morley was bowled next ball.
Debutant Harry Moore had Shaw lbw in the second over of Northamptonshire’s innings before Procter edged him to Madsen at second slip.
Gus Miller cut Morley for four to take Northamptonshire’s lead into three figures, and Sales took a pair of fours off the spinner before another from Miller brought up the 50 partnership.
Miller (42) was lbw sweeping Thomson shortly before tea, while Sales (40) departed to Andersson shortly after the break.
Saif Zaib and Keogh put on 41 as Zaib picked up where he had left off in his first-innings 90, with some crisp drives and reverse sweeps, but he was bowled for 26 as he rashly danced down the track to Morley.
Keogh reverse-swept three consecutive boundaries off Thomson and struck eight fours in total as he helped Northamptonshire towards a daunting lead – at 232, Derbyshire will already require the highest total of the match.
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