This article is from the Amiga CD32 FAQ, by Stuart Tomlinson with numerous contributions by others.
A: Get aminet:/disk/cdrom/AmiCDROM-1.15.lha, unarchive it, use the following options in the installer... Device cd.device Unit 0. Memory options Use any memory available. Other options Use Rock Ridge names, if possible. Use trackdisk.device instead of SCSI-direct. Map filenames Don't map filenames. General buffers 5. Read() buffers 5. Diskchange time 3. CD-DA icon command None. CD-DA icon position Workbench chooses. Configure Mac options Yes. Mac options Convert Mac characters to Amiga characters. Examine CD first for a HFS partition. Data fork extension Leave empty. Rsrc fork extension Leave empty. AmigaDOS device name CD1:, MAC0:, whatever you like. Automount Yes: Mac CDs are recongnised all the time. No: You must click on the Storage/DOSDrivers/ CD1 (or whatever) icon before using Mac CDs.
Two icons will appear for each CD you insert - one is the CD32/CDTV/PC partition and the other is the Mac partition. If there is no Mac partition then both icons will be the same CD32/CDTV/PC partition.