Commenting out 

uboot_overlay_addr0=/lib/firmware/cape-universal-00A0.dtbo 

Then 

machinekit@beaglebone:~$ machinekit

MACHINEKIT - 0.1
Machine configuration directory is 
'/home/machinekit/machinekit/configs/ARM.BeagleBone.CRAMPS'
Machine configuration file is 'CRAMPS.ini'
Starting Machinekit...
rtapi_msgd command:  /usr/libexec/linuxcnc/rtapi_msgd --instance=0 
--rtmsglevel=1 --usrmsglevel=1 --halsize=524288
rtapi_app command:  /usr/libexec/linuxcnc/rtapi_app_rt-preempt --instance=0
io started
halcmd loadusr io started
Waiting for /sys/class/uio/uio0 
...................................................................................................

since CRAMPS.bbio has in the first few lines

overlay cape-universal
overlay cape-bone-iio

However there is no cape-bone-io in /lib/firmware, further removing the 
reference to it in CRAMPS.hal will again produce 

halcmd loadusr io started
Waiting for /sys/class/uio/uio0 
...................................................................................................

Whats even more confusing is that this thread 
https://groups.google.com/forum/#!topic/machinekit/XSxIKD_mi-s
suggest exactly the opposite of RCN suggestion

It appears that I'm dammed if I do, and Dammed if I don't. 

I really don't want to spend several days tearing down a system and 
replacing the cramps board so I can run a few panel mount temperature 
control modules.

It would be far simpler just to drop back a few years to old code that 
worked. Trouble is... it's doesn't seem to be available.

-- 
website: http://www.machinekit.io blog: http://blog.machinekit.io github: 
https://github.com/machinekit
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