Control linuxcnc by FT sensor (external force)?

I'm trying to control my robot by using an FT sensor. I've already calculated position commands, but I don't know how to connect these position commands to the motor during run time. All Linuxcnc commands are transferred to the motor by joint.x.motor-pos-cmd to my-motor-cmd, so my first idea is to disable Linuxcnc, unlink motor-pos-cmd, and link FT-sensor.x.motor-pos-cmd to my-motor-cmd. This might be work but the downside is disabling LinuxCNC when mode change is required. So I'm looking for a way to do it during run time, a way to feed FT-position-command to  joint.x.motor-pos-cmd maybe
 

Could you set it up as a probing move using the force torque sensor target value as the limit input for the probe input? Possibly using a comp hal component to compare the FT sensor output with the desired value.

(edit)
The tricky part would be if you would have to listen to the FT feedback from multiple FT sensors on multiple axis for a complex multi axis kinematic move. But if you only need to listen to one sensor on the end effector, or limit moves to single axis moves, the above should work. (I think)

My FT sensor is a multiple-axis sensor that mounts at the robot end-effector. Tool gravity compensation, external force, and new joint position command calculation are already done, so right now I need to send these commands to LinuxCNC.
Sending via the jog command does not give me a smooth move, I will try the jogwheel function by converting the position command to jog count, not sure if it works