The CD's should be in mode 2 2352. DVD's in UDF. Always burn DAO--nearly all TDK's support this. If not, try TAO or SAO and always close the disk.
You shouldn't have to worry about these settings anyway (escept DAO) if you have imaged the source properly. All ISO, BIN, GI, etc images have some sort of "CUE" file attached. These will have a different extension from the data files and will be real small--like a few KB in size. This file sets up the mode and adds the proper pregap and stuff. This is the file you should be loading to burn. If you are loading just the .ISO file, you are not getting the correct LBA assignment for the starting point because you are not setting up the blank pregap section (this is where $ony's boot data is written, and that cannot be copied, but the disc has to start at the same point it would if the boot rom was there. This will always cause a mismatch in LBA size versus the actual size of the data, and will render the disc unbootable since certain system files will not be found because they will be written in the pregap areai instead of the proper locations on the disc. RNM/Primo or CVDDecrypter are prety much no brainers to use. They remember most or all the locations and settings used for imaging your source, so you can just go right into burning your source without hunting down the proper file to load. Personally, I recommend RNM/Primo as it's never failed on my Win98SE machine and is much easier for beginners to get used to, but DVD-Decrypter is ideal if you also need to DeCSS/DeMacro a DVD-Movie disc as well--RNM/Primo will not remove the copy protections.
If you are having trouble with RNM, you may need to update the PxEngine and check your ATAPI version as well. The 4.70, 4.71 ATAPI releases have done some freaky things with some software/drive combinations. Check the sticky in this forum about the ATAPI links for more info. The PxEngine for RNM can be nabbed at the old Sonic site still:
Here's a good site that offers several tutorials on different applications. Use the links in the upper-left semi-circle to get directly to your app. of choice.
If it ain't broke don't try to fix it! But, hell if you can tweak that bastard just a little bit more....hehehe.