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Use Kinematic FBs to plan and control the motion* of kinematic-chains; to measure and plot linear or angular motion over a machine-cycle; and to calculate and export Cam-Coordinates.
* Motion - Position, Velocity, and Acceleration, with Linear or Angular motion-units.
See also How to connect FBs
Function-Blocks menu > Kinematic FBs
Function-Blocks menu > Kinematic FBs (MD17)
The Kinematic FB toolbar is to the right of the graphics-area.