I waited on tables, and I also drove a cab. I wouldn't tip in such a situation. I didn't expect a tip if the kitchen screwed up an order on me, nor if the dispatcher sent me late to a call and the customer was upset at having to wait.
What really got me was New York City restaurants that added a 20% 'gratuity' to their checks. I tip 20 - 25% for good service. The person who demands it gets nothing.
I've never had service that I deemed to be "untippable." If the service were bad enough that I wouldn't leave a tip, I'd probably just talk to the manager. Be doing the restaurant a favor.