It doesnīt even relate to ESR, but to burning for old generation PS2s in general.
I believe, spud42 is right about the book-type.
If you donīt want to set the book-type, simply buy DVD-R (quality-brand) and re-burn it.
Keep in mind, that your PS2-Laser/Model is really old and maybe do not read "backups" at all.
PS2 V7/DMS3 V2 (FW:2.4b7); Seagate Baracuda 200GB
PS2 V7/CC1.0 (FW:34 hacked v2 BM:2.1.6); Maxtor DiamondMAX9 PLUS 160GB
PS2 SCPH-30004R; NoMod+NoLaser
3xSony MC 8MB
MAX/Datel 16MB with Boot-CD
Custom FMCB 1.8b+ Beta-Build, my AIO 0.5, Sony&xRhino-Linux