Anyone knows how to make a multi-threaded simulation in simulink?

Hi! I am making a parallel robot simulation in simulink, and I thought it could be sped up by using multiple threads, however whatever I do it always gives the same errors. My system:

Options for the system:

Error:

Thank you for your help!

[Walter Roberson]

Ummm? Turn on 'Treat each discrete rate as a separate task' and turn off visualization, perhaps?

[Laci Szucs]

I tried to turn on 'Treat each discrete rate as a separate task', and have deleted the visualization block as well, and it still displays the same error.