What happens if a robot with a ball is E-Stopped?

[dakaufma]

What happens if a robot with a ball is E-Stopped?

My reading of the rules says that if other robots can't get the ball out then your alliance can't score for the rest of the game, but that seems like a rather harsh penalty for keeping your robot safe.

On a related note, what if your robot is preloaded with a ball for auto but then something goes wrong and you can't get it to move? Or it loses connectivity with the FMS?

In both of these cases it seems to me like the fair answer is that any balls contained by an E-Stopped robot are out of play and can be refielded by a human player. Or that they are out of play and the cycle restarts. (and that you're allowed to E-Stop a non-responsive robot even though it isn't a hazard to itself or other robots)