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The first step is to determine the device name with the following command. Example:

# cdrecord -scanbus

 
Cdrecord-Clone 2.01-dvd (i686-pc-linux-gnu) Copyright (C) 1995-2004 Jörg Schilling
scsidev: 'ATA'
devname: 'ATA'
scsibus: -2 target: -2 lun: -2
Linux sg driver version: 3.5.27
Using libscg version 'schily-0.8'.
cdrecord: Warning: using inofficial libscg transport code version (schily - Red Hat-scsi-linux-sg.c-1.83-RH '@(#)scsi-linux-sg.c        1.83 04/05/20 Copyright 1997 J. Schilling').
scsibus1:
        1,0,0   100) 'HL-DT-ST' 'RW/DVD GCC-4481B' 'E106' Removable CD-ROM
        1,1,0   101) *
        1,2,0   102) *
        1,3,0   103) *
        1,4,0   104) *
        1,5,0   105) *
        1,6,0   106) *
        1,7,0   107) *

Use the cdrecord command line with -dao options to burn with "Disk At Once" mode.

 cdrecord -v -dao dev=0,0,0 /path-to-file/filename.iso

The -v stands for verbosity and the -dao stands for "Disk At Once." Use the dev= options to define the device that was found with the scanbus option above, in this example, it's 0,0,0.

To burn multi-session CD, -multi option on all sessions except the last session.

cdrecord -v -multi -dao dev=0,0,0 /path-to-file/filename.iso

Note: In Red Hat Enterprise Linux 4, when using ide burner use:

dev=ATA:0,0,0

See man cdrecord for additional cdrecording options.