Universal Robots UR16e

7.8.6. Event
Description An event can be used to monitor an input signal, and perform some action
or set a variable when that input signal goes high.
For example, in the event that an output signal goes high, the event
program can wait for 200ms and then set it back to low again.
This can make the main program code a lot simpler in the case on an
external machine triggering on a rising flank rather than a high input level.
Events are checked once every control cycle (2ms) .
7.8.7. Thread
UR16e 244 User Manual
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