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A lot of the tools used to burn CD's under linux require scsi emulation for both the source drive and the burner. So you'll need to edit your boot loader to "append="hdx=ide-scsi" where hdx is the device your DVD is on.
As for copying a CD:
dd if=/dev/cdrom of=/path/to/save/file/to/filename.iso
I use conv=noerror to help:
dd if=/dev/cdrom of=/home/iso/filename.iso conv=noerror
cdrecord and dd require a step before actually working, which is to create the .iso file.
If you don't want to create this iso file, I would try XCDRoast, it works fine for me, when I want to copy CD's.
If I do want to simply copy files from my disk, I will create a .iso file and use cdrecord.
I'd recommend just trying cdrecord directly before using a gui. Cdrecord comes with a program called "readcd" for creating iso images. Do "readcd -help" for instructions. If you want to copy a disc "on the fly" you can create a fifo (use the mkfifo command) and use that to pipe data directly from readcd to cdrecord.
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