Sometimes these kinds of problems can be caused by missing or incorrect ASPI drivers.
Make sure that the ASPI layer is properly installed. Go to cyrus-troy Downloads
and download the ASPI Check and Force ASPI programs.
Run ASPI Check to see if the installation is properly installed and is version 4.60 (1021). If this is not the case, unzip
(extract) ForceASPI, read the Index.htm file carefully, and run the program. ForceASPI will repair and properly install the v4.60 (1021) ASPI layer.
Reboot, run ASPI Check again, and if correct, try copying an audio disc from your DVD-ROM.
Also, make sure that DMA is enabled for both drives. See How to enable DMA in Windows 2000