Using Event just for a part of a program?

Hello there!

Me and my workmates were just wondering if it’s possible to use Event just for a part of a program instead of doin it for whole one?

It’s a handling process where we pick a part using suckers and then drop it on a station. What we want to do is to stop the robot and move it to home if the part will be lost during the process.

UR10, version 3.9

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