[200057.349892] I-pipe: Domain RTAI registered.
[200057.349906] RTAI[hal]: <3.8.1> mounted over IPIPE-NOTHREADS 2.6-03.
[200057.349909] RTAI[hal]: compiled with gcc version 4.4.3 (Ubuntu 4.4.3-4ubuntu5) .
[200057.350013] RTAI[hal]: mounted (IPIPE-NOTHREADS, IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0).
[200057.350017] PIPELINE layers:
[200057.350022] f8a1be20 9ac15d93 RTAI 200
[200057.350026] c085cb20 0 Linux 100
[200057.381160] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[200057.381409] RTAI[sched]: IMMEDIATE, MP, USER/KERNEL SPACE: <with RTAI OWN KTASKs>, kstacks pool size = 524288 bytes.
[200057.381417] RTAI[sched]: hard timer type/freq = APIC/12873505(Hz); default timing: periodic; linear timed lists.
[200057.381423] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq = 1699360000 hz.
[200057.381427] RTAI[sched]: timer setup = 999 ns, resched latency = 2944 ns.
[200057.381542] RTAI[usi]: enabled.
[200057.493263] RTAI[math]: loaded.
[200057.611822] hm2: loading Mesa HostMot2 driver version 0.15
[200057.617939] hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
[200057.618037] hm2_pci 0000:06:00.0: PCI INT A -> GSI 18 (level, low) -> IRQ 18
[200057.618043] hm2_pci: discovered 5i25 at 0000:06:00.0
[200057.619516] hm2/hm2_5i25.0: Smart Serial Firmware Version 33
[200057.750305] hm2/hm2_5i25.0: 34 I/O Pins used:
[200057.750314] hm2/hm2_5i25.0:     IO Pin 000 (P3-01): IOPort
[200057.750319] hm2/hm2_5i25.0:     IO Pin 001 (P3-14): IOPort
[200057.750323] hm2/hm2_5i25.0:     IO Pin 002 (P3-02): IOPort
[200057.750329] hm2/hm2_5i25.0:     IO Pin 003 (P3-15): Smart Serial Interface #0, pin TxData1 (Output)
[200057.750336] hm2/hm2_5i25.0:     IO Pin 004 (P3-03): Smart Serial Interface #0, pin RxData1 (Input)
[200057.750341] hm2/hm2_5i25.0:     IO Pin 005 (P3-16): Smart Serial Interface #0, pin TxData0 (Output)
[200057.750347] hm2/hm2_5i25.0:     IO Pin 006 (P3-04): Smart Serial Interface #0, pin RxData0 (Input)
[200057.750353] hm2/hm2_5i25.0:     IO Pin 007 (P3-17): Muxed Encoder Select #0, pin Mux Select 0 (Output)
[200057.750359] hm2/hm2_5i25.0:     IO Pin 008 (P3-05): Muxed Encoder #0, pin Muxed A (Input)
[200057.750364] hm2/hm2_5i25.0:     IO Pin 009 (P3-06): Muxed Encoder #0, pin Muxed B (Input)
[200057.750371] hm2/hm2_5i25.0:     IO Pin 010 (P3-07): Muxed Encoder #0, pin Muxed Index (Input)
[200057.750376] hm2/hm2_5i25.0:     IO Pin 011 (P3-08): Muxed Encoder #1, pin Muxed A (Input)
[200057.750381] hm2/hm2_5i25.0:     IO Pin 012 (P3-09): Muxed Encoder #1, pin Muxed B (Input)
[200057.750387] hm2/hm2_5i25.0:     IO Pin 013 (P3-10): Muxed Encoder #1, pin Muxed Index (Input)
[200057.750391] hm2/hm2_5i25.0:     IO Pin 014 (P3-11): IOPort
[200057.750395] hm2/hm2_5i25.0:     IO Pin 015 (P3-12): IOPort
[200057.750399] hm2/hm2_5i25.0:     IO Pin 016 (P3-13): IOPort
[200057.750403] hm2/hm2_5i25.0:     IO Pin 017 (P2-01): IOPort
[200057.750407] hm2/hm2_5i25.0:     IO Pin 018 (P2-14): IOPort
[200057.750411] hm2/hm2_5i25.0:     IO Pin 019 (P2-02): IOPort
[200057.750415] hm2/hm2_5i25.0:     IO Pin 020 (P2-15): IOPort
[200057.750419] hm2/hm2_5i25.0:     IO Pin 021 (P2-03): IOPort
[200057.750423] hm2/hm2_5i25.0:     IO Pin 022 (P2-16): IOPort
[200057.750427] hm2/hm2_5i25.0:     IO Pin 023 (P2-04): IOPort
[200057.750432] hm2/hm2_5i25.0:     IO Pin 024 (P2-17): Muxed Encoder Select #3, pin Mux Select 0 (Output)
[200057.750437] hm2/hm2_5i25.0:     IO Pin 025 (P2-05): IOPort
[200057.750441] hm2/hm2_5i25.0:     IO Pin 026 (P2-06): IOPort
[200057.750445] hm2/hm2_5i25.0:     IO Pin 027 (P2-07): IOPort
[200057.750449] hm2/hm2_5i25.0:     IO Pin 028 (P2-08): IOPort
[200057.750453] hm2/hm2_5i25.0:     IO Pin 029 (P2-09): IOPort
[200057.750457] hm2/hm2_5i25.0:     IO Pin 030 (P2-10): IOPort
[200057.750461] hm2/hm2_5i25.0:     IO Pin 031 (P2-11): IOPort
[200057.750465] hm2/hm2_5i25.0:     IO Pin 032 (P2-12): IOPort
[200057.750468] hm2/hm2_5i25.0:     IO Pin 033 (P2-13): IOPort
[200057.750561] hm2/hm2_5i25.0: registered
[200057.750566] hm2_5i25.0: initialized AnyIO board at 0000:06:00.0
[200058.054381] 
[200058.054384] In recent history there were
[200058.054386] 679203, 679506, 679476, 617967, and 680322
[200058.054388] elapsed clocks between calls to the motion controller.
[200058.054394] This time, there were 742182 which is so anomalously
[200058.054397] large that it probably signifies a problem with your
[200058.054399] realtime configuration.  For the rest of this run of
[200058.054400] EMC, this message will be suppressed.
[200058.054402]