Hey @jvarkevisser!
This message appears if you have inconsistency in your local and global physical contact settings. For example, if you have selected Augmented Lagrange in the global settings then this error will pop up if you are using Friction or Frictionless Penalty for local settings where you normally define master and slave and vice versa.
Same error will appear if you have turned on the friction globally i.e. set to Coulomb and then use either Frictionless penalty or Frictionless augmented under local settings and vice versa.
I hope this helps. If you are still stuck, don’t hesitate to ask.
Best,
Ahmed