After the emergency stop

So I finally had to use the Estop button. It worked fine. I powered down, reset the Estop, then powered up.
At this point, I would have wanted to manually drive the rails to clear the collision, but the only thing I was allowed to do was to home the machine. Not really the best action in some cases I suspect.

I would strongly suggest you take the user directly to the manual jog mode after an Estop so the user can tell the machine how to get out of collision.

You could also just manually (like, with your hands) move the head to a safe place while the machine is powered off. Search around for people talking about tramming the z rails, the procedure would be similar, just with lifting up instead of pushing down.