If you attempt to use different media and receive the same error messages then I suggest you need to verify the operation of the drive. Perhaps there was a problem with the firmware update or the drive has just failed. (I have several that don't work anymore.) It is impossible for me to recommend the best way to verify the drive since I do not know what resources you have available.
On your command line you specified speed=3, but the media reported that it was only 2X. But cdrecord reverted back to the 2x speed anyway. I think speed=3 is not a supported speed. For your drive I think 1x, 2x, and 4x would be the proper speeds but this is also limited by the media.
Also, if the results are from using CDRW media, be sure to blank the CD before reattempting the burn. If anything from a prior attempt was burned then that will also create problems.
cdrecord -v dev=0,6,0 speed=2 blank=fast
If blanking also generates errors then the possibility of drive problem becomes higher.
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