How to built a Velocity profile without a motion assistant mudule

I wanna to built a velocity profile. the maximum velocity and acceleration are being given, when a Position command is received, the program will generate a trapezoidal profile with the given maximum velocity and acceleration. 
can i use a mat lab node to get the velocity and out put the position continuously?  
if can not, is there any other  to do it. Please help me out of this, thanks a lot!

Attachments:
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