The CD-ROM driver works only if you start from a state where the modules
ieee1394
ohci1394
sbp2
are not loaded. So open /etc/modules.conf and comment the following two lines:

#alias ieee1394-controller ohci1394
#alias scsi_hostadapter sbp2

Then write a script, that must be run as "root", with the following lines:

insmod ieee1394
insmod ohci1394
insmod sbp2
mount -t auto /dev/scd0 /mnt/cdrom

once created the directory /mnt/cdrom.