Re under floor heating, you really need the manual for your particular system as the DETAILS from one to another vary enormously.
But the principle is normally the same.
There is a "manifold controller" which is a control box next to the UFH manifold.
Normally the boilers timeswitch determines the on and off times. When the timeswitch is on, the manifold controller is activated.
Then if ANY of the zones for that manifold are "calling for heat" (determined by their thermostat) then the manifold pump will start and one or more zone valves will open.
At this point the manifold controller will itself "call for heat" in other words it's asking the boiler for some hot water. That is very probably a volt free contact. Now that may directly start the boiler, or that may activate a zone valve which in turn will start the boiler.