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急问！

由于昨天的帖子给分有问题，重新发一下

我要求一个关节的转速是V=cos(2*pi/3-t )，就是转速跟时间t有余弦关系，想要达到的角速度附件中的图1所示。
但现在在ADAMS中MOTION的表达式写为COS( 2*pi/3-time ) d * time，结果仿真下来结果如图2所示，请问是怎么回事，请问这个表达式中d * time的意思什么？
假如我把上面表达式去掉d * time改成COS( 2*pi/3-time )后，仿真时报如下的错误：

ERROR: The simulation stopped at time = 6.75905E-05 . ADAMS cannot solve
the equations of motion.

The greatest error in an equation is 7.22746E+06 in the
equation for CONTACT model_1.CONTACT_3_12 .

The greatest change in a variable is 6.7034 in the
variable for JOINT model_1.joint_1_13 .

Try the following in this order:
1. Use the MAXIT argument on the EQUILIBRIUM, IC, KINEMATICS,
or INTEGRATOR command to increase the maximum number of
iterations.
2. Temporarily change the value of the PATTERN argument on the
EQUILIBRIUM, IC, KINEMATICS, or INTEGRATOR command to
PATTERN = T.
3. Temporarily increase the value of the ERROR argument on the
EQUILIBRIUM, IC, KINEMATICS, or INTEGRATOR command at
time = 6.75905E-05 .
4. If one or more forces change rapidly or sharply near
time = 6.75905E-05, modify the force or forces.

ERROR: Simulation failure detected
这个错误是什么意思，该怎么办？

假如我要得到图1所示的转速值，这个表达式该怎么写？
谢谢！

图.rar