[EricH]

If a robot is E-stopped, then it can't take any more penalties than it already has.

However, you do raise a valid point: if an E-stopped robot is in the opponent's zone, can another robot of the same alliance be in that zone without penalty?

I think not. If the intent is to ensure that one goal is always open, it's easy to have one robot go out there, E-stop in front of one goal, and then have another robot block the other, unless the penalties apply.

But, I don't have a definitive answer. Nobody here does (unless the Manual does). You'll have to wait for Q&A to open up, which should be later this week.