Thanks Richard,
Your program compiles well.
I do have the follwing :

PROGRAM IS STARTING...

32009
32005
32009
32013
32017
32021
32033
32042
32073
32113
32153
32173
32197
32209
32233
32257
32221
32199
32161
32129
32101
32065
32061
32057
32053
32045
32041
32040
32037
32013
31999
31997

I have changed the encoder too but not working...
Thanks
Ambro