I had the same problem described here: Everything would work fine until
I inserted a CD/DVD (or left a CD/DVD in from the last time I ran
Windows) at which point the computer would lock up approx. 30 seconds
later, requiring a hard reset.

I found a way around the problem, and that was to go into the BIOS for
my motherboard (Asus P5GDC) and change the IDE mode from "Enhanced" to
"Compatibility".  After booting back into Ubuntu 9.10, I could put a
disk into the drive and it would mount just like it should.  I'm not
particularly knowledgeable about the inner workings of computers (I can
put them together, but I don't understand why they work) so this may not
have any relevance.  I just saw that HAL was not the problem and that it
might have something to do with the way the kernel interacts with the
IDE controllers, so I tried it, and it worked.  I have no hypothesis as
to why.

Hope this helps.

-- 
System freezes when inserting a CD/DVD
https://bugs.launchpad.net/bugs/74372
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