Just got a reply from cs-labs, it seems its probably an internal issue between mach and the plugin, i need to downgrade to v022 as that is the recommended one.

Something is telling mach to move beyond a soft-limit - clearly this should never happen but is.

The ePid fault is caused by mach telling the motors to move faster than it should - the motor cannot keep up and a the following error hits the ePid limit and trips.

Will try v022