cdrdao copy --device 0,4,0 --buffers 64 --driver generic-mmc-raw --read-raw toc-file.toc 

This will prompt you to insert the CD-R after an image of the source CD was created. (“Please insert a recordable medium and hit enter”) The image file with name “cddata<pid>.bin” will be created in the current working directory. (file removed when done)

Copy the CD from the reader (SCSI 3) and burn on the Read/Writer (SCSI 4):

cdrdao copy --source-device 0,3,0 --device 0,4,0 --buffers 64 

OR

cdrdao copy --source-device 0,3,0 --source-driver generic-mmc-raw --device 0,4,0 --driver generic-mmc-raw --buffers 64 toc-file.toc