Oct  6 23:33:14 beaglebone rtapi:0: 1:rtapi_app:10176:user hal_pru_generic: 
cant find /usr/lib/linuxcnc/xenomai/pru_generic.bin in /home/machinekit/CRAMPS 
or /lib/firmware/pru/

It looks you are using wrong real-time kernel machinekit is looking xenoami but 
you have preempt 
I don’t know about your installation or packages but if I was you I would copy 
that file to /home/machinekit/CRAMPS folder and see what will happen before i 
try to install xenomai package 
It may not work but it worth a try 

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