I have the same issue (lenovo thinkpad t43) and 2.6.20-16 does not fix
it for me

# uname -a
Linux sterni 2.6.20-16-386 #2 Thu Jun 7 20:16:13 UTC 2007 i686 GNU/Linux


# hdparm -i /dev/sr0

/dev/sr0:

 Model=UJDA765 DVD/CDRW                        , FwRev=1.70    , SerialNo=      
              
 Config={ Fixed Removeable DTR<=5Mbs DTR>10Mbs nonMagnetic }
 RawCHS=0/0/0, TrkSize=0, SectSize=0, ECCbytes=0
 BuffType=unknown, BuffSize=512kB, MaxMultSect=0
 (maybe): CurCHS=0/0/0, CurSects=0, LBA=yes, LBAsects=0
 IORDY=yes, tPIO={min:180,w/IORDY:120}, tDMA={min:120,rec:120}
 PIO modes:  pio0 pio1 pio2 pio3 pio4 
 DMA modes:  sdma0 sdma1 sdma2 mdma0 mdma1 mdma2 
 UDMA modes: udma0 *udma1 udma2 
 AdvancedPM=no
 Drive conforms to: ATA/ATAPI-5 T13 1321D revision 3:  ATA/ATAPI-1 ATA/ATAPI-2 
ATA/ATAPI-3 ATA/ATAPI-4 ATA/ATAPI-5

 * signifies the current active mode

# hdparm /dev/sr0

/dev/sr0:
 IO_support   =  0 (default 16-bit)
 readonly     =  0 (off)
 readahead    = 256 (on)
 HDIO_GETGEO failed: Inappropriate ioctl for device

I get this when putting a cd into the drive:
Jul 10 14:56:22 localhost kernel: [ 1376.764000] sr 1:0:0:0: SCSI error: return 
code = 0x08000002
Jul 10 14:56:22 localhost kernel: [ 1376.764000] sr0: Current: sense key: No 
Sense
Jul 10 14:56:22 localhost kernel: [ 1376.764000]     <<vendor>> ASC=0xd0 
ASCQ=0xffASC=0xd0 <<vendor>> ASCQ=0xff
Jul 10 14:56:22 localhost kernel: [ 1376.764000] FMK, EOM
Jul 10 14:56:22 localhost kernel: [ 1376.764000] end_request: I/O error, dev 
sr0, sector 2712
Jul 10 14:56:32 localhost kernel: [ 1386.764000]          res 
40/00:03:00:00:00/00:00:00:00:00/a0 Emask 0x4 (timeout)
Jul 10 14:56:39 localhost kernel: [ 1393.764000] ata2: port is slow to respond, 
please be patient (Status 0xd0)
Jul 10 14:57:02 localhost kernel: [ 1416.780000] ata2: soft resetting port
Jul 10 14:57:03 localhost kernel: [ 1417.264000] ata2.00: configured for UDMA/25
Jul 10 14:57:03 localhost kernel: [ 1417.264000] ata2: EH complete
Jul 10 14:57:33 localhost kernel: [ 1447.264000] ata2.00: qc timeout (cmd 0xa0)
Jul 10 14:57:33 localhost kernel: [ 1447.264000]          res 
51/51:03:00:00:00/00:00:00:00:00/a0 Emask 0x5 (timeout)
Jul 10 14:57:40 localhost kernel: [ 1454.264000] ata2: port is slow to respond, 
please be patient (Status 0xd0)
Jul 10 14:58:03 localhost kernel: [ 1477.280000] ata2: soft resetting port
Jul 10 14:58:03 localhost kernel: [ 1477.764000] ata2.00: configured for UDMA/25
Jul 10 14:58:03 localhost kernel: [ 1477.764000] ata2: EH complete

-- 
ata2 2.6.20-13-generic ata2: port is slow to respond 
https://bugs.launchpad.net/bugs/103277
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