The link pins and sprocket tooth must be initially engaged properly. More initial penetration of the link rollers into the sprocket tooth often results in a simulation failure. Therefore, the sprocket must be rotated by using Object Control so that the initial penetration between the link roller and sprocket remains to be small. If the sprocket is rotated after attaching the revolute joint between the sprocket and the frame body, the initial condition or motion expression must be modified accordingly. The bodies which are in contact with chain links can be modified from assembly information dialog.