Reproduction of the front part of a hydraulic excavator in Simscape Multibody

I would like to create the attached model to reproduce the front section of a hydraulic excavator.

I am trying to reproduce it simply by placing pins on the machine parts, connecting the pins as cylinders, and connecting the machine parts to each other by pins.

I am thinking that I can reproduce the joint by using "Revolute Joint" and "Cylindrical Joint", but an error occurs.

How can I modify it to reproduce the joint without any errors?

Thank you in advance.