Can you install latest iDRAC and iSM on the server and check the behaviour. If it is not getting resolved after update, you can refer below link with troubleshooting details for this error [URL]  
Hello,   I keep getting the above error message in the Windows Event Viewer system log from my Dell PowerEdge740XD Server. The particular event ID is 8193. I don't see any errors in Dell OpenManage software, and we are not experiencing any problems with the server. Can anybody advise if this message is of concern? Bios version is 2.6.4, iDRAC and lifecycle controller version is 4.10.10.10 build 32   Thanks in advance.
The iDRAC Service Module is unable to communicate with iDRAC using the OS to 
iDRAC Pass-th