If you are using Lilo as your boot manager, edit /etc/lilo.conf. At the top, add a line 'append="hdX=ide-scsi"', where X is the letter of your cdrw (such as /dev/hdd, d=X). At the command line, reload lilo by entering lilo. Reboot.
If you are using grub, select your boot image, and add 'hdX=ide-scsi'. I don't use grub myself, so perhaps someone can offer a solution to make it a permenant option as a bove with lilo.
As long as you are using the generic kernel included with your (or have compiled IDE-SCSI emulation as module for a newer kernel), enter the following as root: 'modprobe ide-scsi'. This will load the emulation driver.
You will now access your cdrw using /dev/sr0 (assuming there are no other scsi devices) as opposed to /dev/hdX. All you need to do now is download a cd burning program. I prefer
xcdroast. That's it!