Pretty much entanglement means what it means. When stuff get entangled, then the referee will see that, and rule to either stop the match, or disable the robot because of the rule of entanglement. If it actually happened, then referee are going to call it.
Now, if it is a device on your robot, that happens to get entangled. The judge will have to see if it's likely to happen again. If so, they will ask you to modify the part until they are satisfied. Or, if they think the risk isn't great, then they will let you keep it. Prepared to remove the device either way.
And about who causes it and how it happen... It really doesn't matter. As long as the device is on your robots and the entanglement do happen, then it is your fault. (Well, not really "fault"... but if your robot doesn't have the device, then entanglement wouldn't have happened). So, your robot will be the one to be asked to be modified. So will the other team if there are some devices on their robot that got entangled (unlike just a drive train).
It is the design of the device that make entanglement happen.
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