MBDyn (http://www.aero.polimi.it/mbdyn/) is a tool which allows to simulate multibody dynamics. This module adds some blocks to get and set informations from a mbdyn simulation.
To be able to use this toolbox under windows, you will need to install cygwin and compile mbdyn under cygwin. MBdyn needs to have access to sockets and there is no such an emulation using mingw.
Once both tools compiled (mbdyn and the toolbox), you first start the simulation (the pendulum script in the demo directory) and then you start the xcos simulation.