Fanuc Robot Fault reset by it self

Is PLC interaction/control an available option for you?

Karel allows you to reset the controler with the RESET routine. By monitoring specific error code (CONDITION handler) you would be able to reset after collision detect.

You can use Auto Error Recovery option.

dha,
Auto Error Recovery Option, which line variables?

Auto Error Recovery is an option you need to buy from Fanuc (it quite "cheep"). You can to define error types and error number codes that robot can recover from. You make recovery program that gets called when error happens and then returns to original program...

Thanks dha,