gain scheduling using motion controller

[jaeguyoo]

I have a motor controlled by motion controller.
The control gains should be different depending on the range of operation, so I want to make a gain scheduling program. I just wonder whether there is any example or idea that I can refer to. I found PID toolset document in NI website. However, it seems like I have to buy if I want to "gain scheduling.vi" in the document. If I know how the vi created, it will help me a lot. If any other method that I can look at, please let me know. Thank you.

[algames]

All you have to do to perform gain scheduling in the motion controller is to select at which position you want your gains to change, and download the new gains on the fly when tha positionn is reached.I am attaching the following example vi that should help you achieve this.