求专家指导

哪位大神能推荐一两本专门讲adams仿真错误和警告的书籍，文献资料也行。仿真老报错，又不知道怎么查错，网上搜了好久也没个具体解决方案，要疯了。错误是这么个情况：
ERROR: At time 7.230000000E-01 the integrator is unable to proceed. Possible Causes:
(1) The accuracy required for the numerical solution can not be attained.
Relax (increase) the value of the acceptable integration ERROR.
(2) Incompatible redundant constraints, a lock up, or a bifurcation
situation. The latter two indicate a mechanism design problem.
(3) The system includes a zero (or relatively small) mass on a part with
an unconstrained translational degree of freedom.
Make sure you have mass on all parts with translational degrees of freedom.
(4) The system includes a zero (or relatively small) inertia on a part
with an unconstrained rotational degree of freedom.
Make sure you have inertias on all parts with rotational degrees of freedom.
(5) An Adams element has a function expression that equals exactly itself.
For example,
SFORCE/id1,I=id2,J=id3,ROT,FUNC=SFORCE(id1,jflag,comp,rm),and
DIFF/id4,IMPLICIT,IC=0,FUNC=DIF1(id4).
Similarly,
VARIABLE/id5, FUNC=VARVAL(id5)*TIME
equals itself at 1 second. Avoid setting an Adams element equal to itself.
ERROR: Simulation failure detected.
ERROR: Simulation failure detected.
（1）（3）（4）都检查过了，（2）好像也没问题，（5）就看不懂了
感激不尽！