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Get a cube, choose Modeling > Preset Surfaces > Cube.
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Go to time 0. Press the Go to Start button or type 0 in the Time field
and press Enter.
The animation will play from the Start time to the End time. Make sure the
End time is not zero.
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Turn on the Translate button, then select the cube.
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Turn on the Record button.
Now AXEL will record a position key when you move the cube.
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In the viewport, move the cube to a good starting position.
This sets the first key.
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Type 5 in the Time field and press Enter.
In the Sequencer, notice the playhead moved to time 5.
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In the viewport, move the cube to where it should be after 5 seconds.
This sets a second key. You can see the key at time 5 in the Sequencer.
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Type 0 in the Time field to return to the start, then turn on the Play
button to preview the animation. The cube moves from the first key to the
second.