Had a look at the config files for my lathe but can't find anything obviously wrong.
Switched to Axis and the hick-up wasn't there.
Repeat by jogging, then touch off and enter a number.
After that a mouse-press on the X+/X-/Z+/Z- key buttons is required for further jogging with the joypad.
Commented out ALL joypad settings and the message still comes.
Startup gmoccapy, e-stop off, power on and then press X+/X-/Z+/Z- and it says
"wrong motion mode, change to the correct one". I go and home the axis and again when I
press X+/X-/Z+/Z- and it says "wrong motion mode, change to the correct one"
Perhaps it has something to do with the homing?
At least your comment in gmoccapy.py suggests that.
I have tried to set up with no homing switches. Intention is that I press "home X"
the axis should home immediately without moving.
But perhaps it is not the homing, it may be the joypad.
Couldn't test that when joypad was uncommented of course.
custom.hal
Code:
loadusr -W hal_input -KRAL F310
custom_postgui.hal
Code:
# Include your custom_postgui HAL commands here
# This file will not be overwritten when you run PNCconf again
loadrt or2 count=2
loadrt mux4 count=1
addf or2.0 servo-thread
addf or2.1 servo-thread
addf mux4.0 servo-thread
setp mux4.0.in0 0
setp mux4.0.in1 25
setp mux4.0.in2 50
setp mux4.0.in3 1000
net remote-speed-slow or2.0.in0 input.0.btn-x
net remote-speed-medium or2.1.in0 input.0.btn-a
net remote-speed-fast or2.0.in1 or2.1.in1 input.0.btn-b
net joy-speed-1 mux4.0.sel0 <= or2.0.out
net joy-speed-2 mux4.0.sel1 <= or2.1.out
net jog-speed <= mux4.0.out
net jog-x-analog <= input.0.abs-y-position
net jog-z-analog <= input.0.abs-x-position
A part from Turner.hal
Code:
# ---HALUI signals---
net joint-select-a halui.axis.x.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net joint-select-b halui.axis.z.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
I have not many time to make special wishes come True 
