Here's some examples:
http://www.jeepster.org.uk/bits/cliburn.html
http://www-106.ibm.com/developerwork.../l-cdburn.html
If you use scsi emulation you need to find your device with: sudo cdrecord -scanbus
If you don't use scsi emulation you can use the devicename directly, for me my burner is /dev/hdc.
Also if you burn from cli a lot you can create a script for it as in:
markus@fujibox:~$ cat /usr/local/bin/burn
#!/bin/sh
cdrecord dev=/dev/hdc driveropts=burnfree,noforcespeed fs=14M speed=12 -dao -eject -overburn -v "$1"
So when I want to burn, say an iso, I do: burn filename.iso