The libraries and the template for Axis- and Kin-Interface are included in release RM20.07.1ff. The preliminary documentation (only in german available) is attached here.
There are two ways to start:
1st way: Create a new PLC project and select the template "ctrlX CORE Axis/Kin-Interface". The project includes a "ctrlX COREvirtual" from an older release. At first make an "update device" to actualize the control and switch to a "real" control. Then do a double-click on the device and do the communication settings.
2nd way: use an existing project. Add the libraries CXA_MotionInterface.compiled-library and CXA_MotionInterfaceUser.library to your project. The documentation in the library CXA_MotionInterfaceUser.library includes example code in the program "KinInterfaceUser/_ Examples/Example_KinIfApplicationPart". Or create a new PLC project (like in 1st way) and use Export/Import to get the necessary parts into your program.