This article is from the CD-Recordable FAQ, by Andy McFadden (email@example.com) with numerous contributions by others.
This was observed with a Yamaha CDR-100. The solution is to go into the
Adaptec BIOS (hit Ctrl-A during boot), and disable the "support removable
disks under BIOS as fixed disks" option and the "boot from CD-ROM" option.