I've never seen (in the flesh) let alone kept a Parancistrus aurantiacus, so all I can do is relay what I've read about this fish.
The thing that crops up time and time again is water quality. I don't think they're fussy with regards to water chemistry but slightly acidic, soft water with a low TDS and relatively warm water. Keeping nitrogenous waste and other substances at a minimum would be the aim. Other than that, nobody has knowingly found a 'trigger' for the yellow colouration.
I think it's important to note that not all fish will change to yellow. But I think it's reasonable to assume that if the fish already has yellow on it, then it's more likely to develop it again. I've seen suggestions that the yellow colouration could be due to sexual maturity (male presumably) or a reaction to light and pressure changes from capture. These reactions would seem to fit because the majority of imported fish are yellow and turn grey over time. Other fish like Panaque bathyphilus and Hemiancistrus pankimpuju also exhibit this.
And this is just a bugbear of mine. The L-number L056 is wrong, it was wrongly awarded in 1995 and is actually a Guyanancistrus. It's proper name, Parancistrus aurantiacus, has been valid since 1855. I don't know where the name 'Xanto' came from, but that should suffice for a common name instead of L056.