In this paper, the achievable DoF of MIMO X channels for constant channel coefficients with antennas at transmitter and antennas at receiver () is studied. A spatial interference alignment and cancelation scheme is proposed to achieve the maximum DoF of the MIMO X channels. The scenario of is first considered and divided into 3 cases, (Case ), (Case ), and (Case ). With the proposed scheme, it is shown that in Case , the outer-bound is achievable; in Case , the achievable DoF equals the outer-bound if , otherwise it is 1/2 or 1 less than the outer-bound; in Case , the achievable DoF is equal to the outer-bound if , and it is 1/3 or 1/6 less than the outer-bound if $(3N_2-M_1-M_2)\mod 3=1 2M_t\leq N_r$, the exact symmetrical results of DoF can be obtained.

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