First thing is to rehome your machine. When to do a G1 x0 y0 it should go to your original 0,0 on your last job. If that looks correct you can use the “run from line#” option so find a spot just shortly before the estop was hit. Lower your feedrate and tell it to go. It should be cutting nothing since you already cut just before it stopped and then it should continue where it left off. Most of the time this works perfect
Russ