Hi everyone: 
I am using BBB and want try the machinetalk. I followed the tutorial at 
http://www.machinekit.io/docs/developing/qtquickvcp/#prepare-machinekit
When I was starting MendelMax-CRAMPS by executing mklauncher . or ./run.py.
 
It always shows:
loading cramps2_cape.bbio... cape-universal already loaded
cape-bone-iio already loaded
done
starting configserver... done
starting linuxcnc... MACHINEKIT - 0.1
Machine configuration directory is 
'/home/machinekit/machinekit/configs/ARM/BeagleBone/MendelMax-CRAMPS'
Machine configuration file is 'CRAMPS.ini'
Starting Machinekit...
done
io started
halcmd loadusr io started
Traceback (most recent call last):
  File "mendelmax.py", line 35, in <module>
    base.setup_stepper(section='AXIS_0', axisIndex=0, stepgenIndex=0)
  File "/usr/lib/python2.7/dist-packages/fdm/config/base.py", line 64, in 
setup_stepper
    hal.addf('%s.do-pid-calcs' % pidComp.name, thread)
  File "machinekit/hal_funct.pyx", line 3, in machinekit.hal.addf 
(hal/cython/machinekit/hal.c:16104)
TypeError: expected string or Unicode object, NoneType found
Shutting down and cleaning up Machinekit...
exiting HAL component storage
exiting HAL component temp
Cleanup done

Could someone tell me why and how to solve this problem? 

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