Position-based explicit force control with cRIO

Hello,

I want to use a linear stage to apply a force on a sample with load cell feedback. I am using a cRIO-9074, NI 9516 servo drive and an NI 9201 for the load cell feedback. 

I have the following questions:

1) Can anyone point me to examples of a position-based force controller in LV using a 9516?

2) Is it possible to achieve this with SoftMotion Standard or do I need SoftMotion Premium? Can I do this without SoftMotion (what else would I use?)

Thanks for your help,

Kyle