S Function Build error

Please,anybodi here could explain my problem ? I have kinematics models (4-input;4-output), but when build itI got the following error :

inverskinematics.c inverskinematics.c(195) : error C2086: 'const real_T *X' : redefinition inverskinematics.c(194) : see declaration of 'X' inverskinematics.c(324) : error C2374: 'X' : redefinition; multiple initialization inverskinematics.c(323) : see declaration of 'X' inverskinematics.c(332) : warning C4090: 'function' : different 'const' qualifiers inverskinematics.c(332) : warning C4020: 'inverskinematics_Outputs_wrapper' : too many actual parameters

C:\PROGRA~1\MATLAB\R2012B\BIN\MEX.PL: Error: Compile of 'inverskinematics.c' failed.