102 is Servos Off. If you twist the E-Stop button clockwise until it pops out, you should be able to press the RESET button and clear the alarm. If it doesn't clear, there are other problems. If it does, press SETNG/GRAPH, type 51 and press cursor down to get to DOOR HOLD OVERRIDE. If it is OFF, press the > key to change it to ON, then press the WRITE button. Then press the POWER UP/RESTART button. Z should home then X and Y.