Our application is using a FT300 force sensor to detect the amount of force it takes close a lid and lock it. The height varies + or - a couple mm so that values we are getting are sometimes too high or too low. We are wanting to see what the force is when the lid locks in place or see if the lid is locked when we reach a certain force. How can I monitor my force while moving to a waypoint and then stop mid move if a force value is excided/reached, record that force, and then move to home? 

You can monitor the force in a background thread if needed, the sensor should be streaming forces to Fx,Fy,Fz,Tx,Ty,Tz

In your program put the position in an if statement and then select the check box to check the expression continuously. Something like this pseudo code

if Fz < 10:
  movej(somePoint)
  var forceAtClose=Fz
else:
  var forceAtClose=Fz
  stopj(12)
end

Hey Mathew, I am still having issues with getting this to function correctly. The robot is not aborting the move when the force exceeds the limit. I've tried using If Fz<() and Fy<() as well as the variables Force_Z and Force_Y.