Without knowing what your process involves, here is how we do it.
1 Turn on the teachpendant.
2 Make sure step mode is on, and speed is @ 10%. You will have to hit the reset button for the alarm.
3.Either press shift + back key to back up a line, or Use the axis keys to manually move whatever crashed away from whatever it crashed into.
4 Clear whatever was the cause of the crash, for us it is normally a destaco clamp.
5 If you manually moved the robot, hit the shift + back key until you get to a spot before the crash happened.
6 make sure the reason for the crash is now removed.
7 turn off step mode, reset teachpendant to 100% turn off teach pendant.
8 Restart robot from the operator cycle start button.
Every time you have a crash, you need to do everything you can to insure that it will not happen again.
Many of us work at places that do not have proxy switches on every clamp, some fixtures we use have 30 destacos on them.
It is in the best interest of the robot to have capable people operating it.
the robot only does what it is taught to do when someone tells it to do it. I now program air moves well above clamps that could be left open.