Error in simmechanics matlab "attached coordinate systems must be collocated"

I am doing inverse dynamics in Matlab simmechanics in which position and orientation will be input to the end effector. But it shows error as below.

Error originates in Mechanical block rob33/Subsystem2/Subsystem1/Custom Joint. 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.

Model is given below.

In subsystem1, I used custom joint to give orientaion input. Susystem1 model and custom joint block parameters is given below figure.

Parameters of link1-1 and parallel constaints is given in below figure.

I read these two answers but unable to understand.

https://in.mathworks.com/matlabcentral/answers/137923-wat-does-the-following-error-mean
https://in.mathworks.com/matlabcentral/newsreader/view_thread/323065

How to solve this error?

Thanks.

Answer 1

[Naseeb Gill]

I solved this problem by seeing below image from internet. This image explain the constraints in coordinate system in simulink.

R = revolute ; S = spherical; W = weld; P = prisimatic

As I have custom joint (in between ground and link 1-1) with R1R2R3 joints so body1 CS and body2 CS should coincident.

To do this, I copy CS3 of link1-1 and paste it into CS of ground.