I also think that here is more to this story. Where was the mother in all this (yes I know she was in the hospital....but what was her stance on dad taking the baby?) If someone wants to leave AMA thats one thing...sign the papers, whatever...at least do everything on your end to make it "official", that way when the hospital/cps/police...whatever try to come back and say anything, then you can back yourself up. Just taking a newborn baby and leaving isn't very smart. It's not the same as just leaving as an adult.
Unfortunately people do kidnap babies, even biological parents. How was the hospital staff and security to know this fathers intentions? I doubt it was something as pure as refusing vaccines, or vitamin k.
That being said...the guard was way out of line for TASERING a guy with a NEWBORN. Especiall since the floor was already locked down.