dmesg2

[164818.719639] I-pipe: Domain RTAI registered.
[164818.719645] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[164818.719647] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[164818.719686] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[164818.719689] PIPELINE layers:
[164818.719692] f8d8ce20 9ac15d93 RTAI 200
[164818.719694] c085cb20 0 Linux 100
[164818.738924] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[164818.739261] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[164818.739266] RTAI[sched]: hard timer type/freq = APIC/16667228(Hz); default timing: periodic; linear timed lists.
[164818.739270] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 2133484000 hz.
[164818.739273] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[164818.739353] RTAI[usi]: enabled.
[164818.779074] RTAI[math]: loaded.
[164818.837136] config string '0x378 out  '
[164819.510946] 602: ERROR: Unexpected realtime delay: check dmesg for details.
[164819.510950]
[164819.510951] In recent history there were
[164819.510951] 2134264, 2155408, 2131192, 2133272, and 2130576
[164819.510952] elapsed clocks between calls to the motion controller.
[164819.510956] This time, there were 2583288 which is so anomalously
[164819.510957] large that it probably signifies a problem with your
[164819.510958] realtime configuration.  For the rest of this run of
[164819.510959] EMC, this message will be suppressed.
[164819.510959]
[164825.195050] RTAI[math]: unloaded.
[164825.221701] SCHED releases registered named ALIEN RTGLBH
[164825.252327] RTAI[malloc]: unloaded.
[164825.352077] RTAI[sched]: unloaded (forced hard/soft/hard transitions: traps 0, syscalls 0).
[164825.355776] I-pipe: Domain RTAI unregistered.
[164825.355821] RTAI[hal]: unmounted.