Hi Roland,
You can't directly apply rotations to solids, because (as I understand it) constraints actually apply to nodes, and nodes only have three DOFs, not six. Same thing applies to moments, although there a Total Load At Point will get round the problem.
As the message says, you should be able to do it through a rigid link. Here's an extreme example:
Enforced displacement, tangential direction, more than 1 revolution
(this also mentions an alternative approach which is to use a cylindrical csys and apply a theta constraint).
