I found a few links that might explain what you are seeing:
Thread from spug.netPalm KB article on the errorThey are basically saying that any software running in the background (like IR keyboard drivers) could interfere with opening the IrDA library that I use to beam in Palantir. One way you could test this is by attempting to beam anything else (like a Contact or a Note) from the stock applications. If you still get the error try to track down any other hack/driver that might have the IrDA port locked up.