You don't necessarily need scsi emulation. Try running the following command:
cdrecord dev=ATAPI -scanbus
If you can see your cdrw, then just use the -dev=ATAPI:X,X flag (with X,X corresponding to the output of scanbus) when you burn. This way you can slim down your kernel by eliminating scsi support and you don't have to pass any special parameters to the kernel when booting.
You can get more info by reading
README.ATAPI in the cdrecord documentation.
Enjoy!
--- Cerbere
[edit] Added link to README.ATAPI from cdrtools homepage [/edit]