Error while doing inverse kinematics in Matlab Simmechanics "To be legal in kinematics mode, all independent degrees of freedom must be"

Hello,

I am doing inverse kinematics of 4dof robotic arm in Simmechanics Matlab. All details about my model is in below link.

https://in.mathworks.com/matlabcentral/answers/332674-error-in-simmechanics-matlab-attached-coordinate-systems-must-be-collocated

The error says:

Mechanical model motion is not completely specified when running in kinematics mode. To be legal in kinematics mode, all independent degrees of freedom must be kinematically actuated. Check joints, constraints, drivers, actuators, and DoFs.

Why this error is coming and how to solve it?

Thanks.