I am relatively new to automation and am in the process of trying to automate loading a textiles manufacturing machine. I am using a UR5 with the FT300 force-torque sensor and 2-finger adaptive gripper.

I am trying to accurately place a bobbin onto a spindle using the spiral search skill from the Robotiq website, but no matter how I alter my program, it outputs: "Compile error: Name 'Fz' is not defined" and the program will not run. 

I am trying to run the program using default settings in the script since I think the default is best suited to my application, so I have not changed any of the parameters.

Do I have to define a force in the Z-direction somewhere in this program, and if so, is there some way to do this within the Polyscope GUI? I feel like I'm missing some small detail for setting up these scripts.

Thanks in advance,

Josh

To use the FT-300 in a program you need to either start from the sensor template or install the sensor-Add-On skills. 
This will initialize the Fx,Fy,Fz,Mx,My,Mz variables and update their value from the force torque sensor. Once this is done, you'll be able to use these variables in your program. 
Do not forget to use the function rq_set_zero() before you take any measurement. This will reset all the value from the FT-300 to 0

That worked perfectly. Thank you for the assistance.