Hallo, DoF Pros.

I am currently working on a pick and place application using a UR5, 2-Finger Gripper and the FT300 sensor.
Is there are way to robot restart by programs when the robot stops emergency?

@Yuu  when an emergency stop occurs during a program, this means the emergency stop button has been pressed. It can also come from an I/O you previously set up to perform an emergency stop. In any case, when an emergency stop occurs, someone must go and assess what happened to trigger the emergency stop. An unwanted and potentially dangerous situation was happening, thus requiring an operator to come in order to restart the robot application. 

@Annick_Mottard, Thank you for your answer.
After the emergency stop, manually release the emergency stop button.
After that, is there a method to detect the signal from the PLC and release the abnormal reset?
Do not use UR 's controller.

There is, you would have to be tied into the real time streaming port and listening for the safety state. It will tell you the exact state the robot is in. You can then restart the robot by streaming events back to the robot. You can also set the robot to automatically start on the rising edge of a hard input (on the robot) so the operators can push a button to reset the robot.