My error is :
*** ERROR # 153 ***
Exactly zero pivoting encountered during Numerical Factorization;
the model may have rigid body mode.
Solver error no. = -503
spc set id = 3
index = 1
Possible reasons are:
1) insufficiently constrained model,
2) having rigid body mechanisms within the model,
3) extremely ill-conditioned rigid element sets,
4) extremely thin shells (as used for skinning) that have MID2/MID3,
5) gap elements with extremely high stiffness (KA, especially KT or MU).
Check the model and rerun the problem.
(MECHCHECK may be used to find the rigid body modes. To do so,
change the input to be an eigenvalue analysis and add MECHCHECK.)
(WARNING: results obtained with MECHCHECK cannot be used because
the model is changed internally.)
This error was detected in subroutine bcsmtxfct.
At this case, I want to simulate the two beams with ball and revolute joints in gravity condition.

I use the revolute joint and ball joints at two beams .
and I set the gravity at the model with no constrain condition (I use the Control Cards = PARAM INREL=-2).
This is my joint set, I also want to ask what is different at FE & MBD.
<?xml version="1.0" encoding="UTF-8"?>
This is my model.
Really thanks!
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