Install a Gateway Server | Microsoft Learn

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$GatewayServer = Get-SCOMGatewayManagementServer -Name "GW01.dmz.contoso.com"
$FailoverServer = Get-SCOMManagementServer -Name "MS02.Contoso.com","MS03.Contoso.com"
Set-SCOMParentManagementServer -GatewayServer $GatewayServer -FailoverServer $FailoverServer
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https://learn.microsoft.com/en-us/system-center/scom/deploy-install-gateway-server?view