I've got 2 ideas. 1. You're using an unformatted re-writable disk, or 2. The firmware in your burner doesn't support the media you're using. I think you meant to refer to a Pioneer DVR-104, which is what I have. The most recent firmware upgrade is 1.33
1. Let's shut down all programs running in the background. DVDXCOPY requires a maximum amount of resources. We might even go so far as to rebooting Mr. "Puter" totally clearing all memory.
Note: Once you start using XCOPY, go have a cup of coffee; trying to use the PC will cause errors also.
2. After the suggested firmware upgrade make sure you are using a good grade media, DVDXCOPY doesn't like "el Cheapo" (although I have burned an awful lot of DVD's using "el Cheapo" myself, sometimes it just gets cranky.