Looks like a Weeke router screen. I have one and occasionally run into a similar problem if there's debris on top of a toolholder when it's picked up. It's frustrating, but I've found a solution for my setup. Here's my procedure to get that problem unstuck (your controller likely has some differences than mine, but it might be pretty close enough that you can fill in the gaps).
1: Turn off machine control power (not the whole console, just machine power), and manually pull the gantry back so the toolholder comes out of the fingers. It takes some muscle.
2: Turn machine power back on, go to Operation, then enter Manual mode. Manually raise the Z axis to maximum height.
3: Turn machine power back off and push the gantry so the router spindle is well over the spoilboard. This is because you have to manually release the toolholder from the spindle, and Weeke machines (at least mine) won't let toolholders go unless you are well away from the tool bar.
4: Under the Operation section, go into MDI mode. Then under the T-changer section, click the Extras drop down menu and select "Main spindle down / lift". On my console, a new button appears that says "Manual change: open clamping". Here's the kicker. You have to click it twice for it to do anything: once to turn it green, and another time to actually enable the function. Doing this allows you to push a button on the back side of the CNC spindle, which will manually open the clamp and let the tool fall out. Get your hand on it first obviously so it doesn't drop the tool on the table.
5: Lastly, set the machine back to Automatic mode, reload the tool back into your tool changer, and you should be back in business.
Could be that your machine doesn't match mine close enough and all this is noise to you, but on the off chance it works, it's worth it to share. Good luck.
Jared