I reply by myself,
delving vpu source code, I found out that on structure EncMjpgParam mjpg_hufTable and mjpg_qMatTable shouldn't be used on mx6 platform but in their place huffVal, huffBits, qMatTab and cInfoTab must be initialized. The "Floating point exception" error were caused by a division by zero with uninitialized qMatTab matrix elements in function JpgEncLoadQMatTab (vpu_util.c).
regards
Andrea