Hello. I uploaded this VI a few days ago. It controls a Stepper motor, though it isn't a PID. Hope it helps. <a href="http://forums.ni.com/ni/board/message?board.id=170&message.id=322006#M322006" target="_blank">http://forums.ni.com/ni/board/message?board.id=170&message.id=322006#M322006</a> Ali.