Unable to create "filename.cdr". (Input/output error)

I am trying to create an ISO from a CD. I've tried using Disk Utility, with all different settings, and Terminal. Additionally, I attempted to make the ISO using an array of third party CD-rippers on a PC. Every platform and method has yielded this error message:
Unable to create "filename.cdr". (Input/output error) after several seconds of processing.
I am stuck. The only thing I can think of is that the CD is read-only, though I don't know how to modify my approach in response to this. Can it still be done with a read-only disk? If so, any help in this would be appreciated.
Beyond that, the disk's format is ISO 9660 (Rockridge). I don't know of any other details to provide, but gladly will if anyone can come up with any.

Use Toast:
http://www.roxio.com/enu/products/toast/titanium/overview.html
or this (dd and/or compile cdrtools):
http://www.slashdotdash.net/2006/08/14/create-iso-cd-dvd-image-with-mac-os-x-tig er-10-4/
http://cdrecord.berlios.de/private/cdrecord.html
(easiest to compile using mac ports)

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