进行仿真驱动出现的提示

a331224756

Error: Element "L006/L006_com" (Type "AxisSystemEntity"): Reference Frame Vector "X" is zero while an unit vector is expected.
Error: Element "L006/L006_com" (Type "AxisSystemEntity"): Reference Frame Vector "Y" is zero while an unit vector is expected.
Error: Element "L006/L006_com" (Type "AxisSystemEntity"): Reference Frame Vector "Z" is zero while an unit vector is expected.
Error: Element "L006/L006_coi" (Type "AxisSystemEntity"): Reference Frame Vector "X" is zero while an unit vector is expected.
Error: Element "L006/L006_coi" (Type "AxisSystemEntity"): Reference Frame Vector "Y" is zero while an unit vector is expected.
Error: Element "L006/L006_coi" (Type "AxisSystemEntity"): Reference Frame Vector "Z" is zero while an unit vector is expected.
Error: Element "L007/L007_com" (Type "AxisSystemEntity"): Reference Frame Vector "X" is zero while an unit vector is expected.
Error: Element "L007/L007_com" (Type "AxisSystemEntity"): Reference Frame Vector "Y" is zero while an unit vector is expected.
Error: Element "L007/L007_com" (Type "AxisSystemEntity"): Reference Frame Vector "Z" is zero while an unit vector is expected.
Error: Element "L007/L007_coi" (Type "AxisSystemEntity"): Reference Frame Vector "X" is zero while an unit vector is expected.
Error: Element "L007/L007_coi" (Type "AxisSystemEntity"): Reference Frame Vector "Y" is zero while an unit vector is expected.
Error: Element "L007/L007_coi" (Type "AxisSystemEntity"): Reference Frame Vector "Z" is zero while an unit vector is expected.
Body "L006" has an invalid mass (mass is <= 0.0).
Body "L007" has an invalid mass (mass is <= 0.0).
Execution aborted due to error in hierarchy object module.
Partial results are stored as follows:
    Info file:      E:\毕业设计\dof_n
redun_法兰克_motion2-solution_1.minf

a331224756

有大神帮忙解答吗？？

a331224756

我是在进行发那科机器人的运动仿真
连杆及运动副创建都没有问题，但解算就是会出现下图的提示 ，希望有大神能够帮忙解决，小弟感激不尽。

peoklin

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