Error when transitioning between weld joints in Simscape Multibody

I'm trying to simulate picking up a part with a magnet by switching between weld joints. The part to pick up is initially welded to a base, and using a MATLAB function in Simulink, I am disengaging the weld joint attaching the part to the base, and engaging the weld joint attaching the magnet to the part. This switch occurs at the same time. I get the following error:

An error occurred while running the simulation and the simulation was terminated

Caused by:

• ['ManipulatorTrajectoryPlanning_Subsystem/Subsystem/Solver Configuration']: The position components of the kinematic constraints of the mechanism cannot be satisfied when attempting to transition joints from disengaged to normal mode. This is more likely to occur for large rotation errors compared to large translation errors. Consider reducing the error in those joints before attempting the transition or consider increasing the joint mode transition nonlinear iterations parameter in the associated Mechanism Configuration block.

This error occurs when the transition occurs, and is between timesteps used by ode45. What can I try? Thanks.

[Gowtham]

Hi David,

To understand the issue better, it would be of great help if you can provide the attachment of the model or the screenshot of the error.