Drive probably needs assumes it is never going to be plugged into anything faster than 10MB single ended SCSI controller. If it is, it just can't "talk" that fast.
Controller probably assumes all devices can talk in UW mode (40MB/S) single ended mode..
One or both need a firmware update, I would blame the drive more than the controller but have always found Adaptec cards to be "fussy". As in Adaptec always assumed their faster controllers would only be used in severs, not user machines...
... Anyway, check the drive's firmware. Most shipped with 1.0h. Yamaha did release several updates, including a 1.0n. That might resolve the issue, as several people noticed the drive, while generally compatible, ran at its own speed, frequently slowing down. Possibly because of the internal IDE/SCSI bridge, which meant it was always slightly slower than it's ATAPI stablemates.