...agree with Vince, this issue is mostly seen when job manager process on CS is overloaded, which causes timeouts on the scheduler requesting new job slots.
So would recommend adding RAM, disabling Virus Scanning or otherwise optimize system IOps performance on CS.
In most cases seen in the field, this issue was because SQL server memory usage was not limited appropriately. Ensure that SQL server on the CS does not consume more that MAX 2/3rd of avail phys RAM.
Note that this is not a critical error as it is just an info that job manager didn't respond in approriate time frame. Scheduler will retry, so it should be seen as an indication of too few performance available on CS in peak times.