simmechanics error prismatic joint

i made mechanical body diagram having number of joints through SimMechanics but there is a problem at initial stage and give error that "Error originates in Mechanical block model/joint 0. The coordinate systems attached to this joint must lie on the prismatic axis (for 1 axis) or in the plane of the prismatic axes (for 2 axes). If joint has no prismatic axes, the attached coordinate systems must be collocated, within tolerances." Please help me to terminate/kill this error.

[Lucas Lebert]

Hi Gil, is it possible, that you are using blocks from the first generation of SimMechanics (now Simscape Multibody)? If yes and you are just starting to learn Simscape Multibody I would suggest using the second generation. If you already have a model using first generation blocks, there are some restrictions when you connect two bodies with a joint. Here is a summary of the restrictions: Body1 --- R --- Body2 = Body1 CS and Body2 CS are coincident Body1 --- S --- Body2 = Body1 CS and Body2 CS are coincident Body1 --- W --- Body2 = Body1 CS and Body2 CS are coincident Body1 --- P --- Body2 = Body1 CS and Body2 CS lie on the vector of P axis Body1 --- P1P2 --- Body2 = Body1 CS and Body2 CS lie on the plane of P1 and P2 axes Body1 --- R1R2 --- Body2 = Body1 CS and Body2 CS are coincident Body1 --- R1R2R3 --- Body2 = Body1 CS and Body2 CS are coincident Body1 --- P1P2P3 --- Body2 = No Restriction Body1 --- 6Dof --- Body2 = No Restriction

Here:

R = Revolute P = Prismatic (Translation) S = Spherical (Ball and Socket) W = Weld

To really narrow down the issue I would need to take a look at the model.

Have a great day,

Lucas