We've got a little LR Mate which is the first "real" robot here at this company, and the first for me as well. We have it working pretty well but I've had a couple occasions where the robot has crashed and faulted out.
Fortunately, I've either been able to get it to back out of the mess by running it in 1% speed. And on another instance, I was able to remove the EOAT and "unjam" it that way.
Is there a better process for this? Please note that we've fixed the issue in the program each time after these instances have occurred, so that it doesn't happen again.