Yes, the latest v2.7.9 will run on the older Ubuntu 10.04 ISOs.  
They can be down loaded here:
http://linuxcnc.org/iso/

Forgot to mention, You will need to change the old Ubuntu repo lines.

deb http://linuxcnc.org lucid base 2.7-rtai
deb http://old-releases.ubuntu.com/ubuntu/ lucid main restricted universe 
multiverse
deb http://old-releases.ubuntu.com/ubuntu/ lucid-updates main restricted 
universe multiverse
deb http://old-releases.ubuntu.com/ubuntu/ lucid-security main restricted 
universe multiverse
deb http://old-releases.ubuntu.com/ubuntu/ lucid-backports main restricted 
universe multiverse

----- Original Message -----
From: "Les Newell" <les.new...@fastmail.co.uk>
To: "Enhanced Machine Controller (EMC)" <emc-users@lists.sourceforge.net>
Sent: Wednesday, June 28, 2017 4:50:38 AM
Subject: Re: [Emc-users] Rough motion with servos

Is there any way to install an older RTAI version?

Les


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