gil pires

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.