SIMSCAPE GIMBAL JOINT MOTION: how to use it and which frame consider?

Hi to everyone,

I am trying to model the motion between two solids with the gimbal joint block. I give as input the three sequences of angles desired, but when the follower solid rotate around the x axis it seems to consider the x axis of the base and not of the follower frame. Could someone explain what is wrong with my model? Why I find this problem only around the x axis, while the motion along y and z axis work in the correct way (around the child frame axis)?

Thank you in advance

Elisa