That's really strange, but i got into the same error, namely:

ata2.01: failed to set xfermode (err-mask= 0x4)
ata2.01: exception Emask 0x0 SAct 0x0 SErr 0x0 action 0x2 frozen
ata2.01: cmd a0/01:00:00:00:00/00:00:00:00:00/b0 tag 0cdb 0x5a data 128 in

...

But i have also achieved to perceive the experimental conditions under
which this takes place, my confiruration is:Pentium Core2 Duo,1Gb
Kingstone, GeForce7600GT and two SATA disks. Both disks are Western
Digital and have capacity 200Gb. Some days before (mamoy klyanus'![rus])
i tried to install kubuntu on one of these disks and everything was
fine. Yesterday during startup i started to receive these mes.(look
above). EVENTUALLY THIS BUG DOESN'T APPEAR IF JUST 1 DISK IS CONNECTED!
I've inferred it from the following: i triedboth sata disks for
installations of kubuntu - and as soon as i connect both - bang! I even
tried to connect WD_200Gb + Seagate 80Gb(USB) - and amazingly same error
comes up! And also -under Windows all disks work without a problem!
HELP!

-- 
failed to set xfer mode error.
https://bugs.launchpad.net/bugs/112132
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