Command Tab, Thread; Command Tab, Pattern - Universal Robots UR5 with CB2 User Manual

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 100ms 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.
3.4.21 Program
A thread is a parralel process to the robot program. A thread can be used
to control an external machine independently of the robot arm. A thread can
communicate with the robot program with variables and output signals.
3.4.22 Program
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Command Tab, Thread

Command Tab, Pattern

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3.4. Programming
UR5