Why do I receive a "cannot use set default dimension function" error when using the Matrix Concatenate block in a subsystem in Simulink 6.5 (R2006b)?

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I receive the following error message when using the Matrix Concatenate block:
cannot use 'set default dimension' function
However, when I move the problematic subsystem out of the larger model into its own standalone model, it works fine.

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MathWorks Support Team
MathWorks Support Team le 4 Nov 2011
The reason you receive the error is because one or more of the input signals to the "Matrix Concatenate" block do(es) not have defined dimensions.
To work around this issue, you can explicitly define the dimensions of the signal(s) by using the Signal Specification block in line with the signal(s). For more information on the Signal Specification block, please refer to the documentation for the same, by typing the following on MATLAB command window.
doc signalspecification

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