v2.00 firmware, which you have and is the latest one for that model.
http://www.pioneer-eur.com/eur/suppo...are#fdvdwriter.
is it the official firmware your using? If not that might be the cause of the problem. Hacked firmwares allow any write speed on a particular disc to used For example, 1x only dvdr can be burned at 2x or 4x in some cases.
My method of ripping consists of Dvd decrypter/Dvd2one 1.52/Nero to burn.
Never fail a burn.
Futhermore, make sure the drive is set on its own IDE channel. Secondary master is recommended with DMA enabled.