user 
cdrecord -scanbus 
to get the device for cdrom and cd burner, then
1. cdrdao read-cd --device 0,1,0 --driver generic-mmc --read-raw vcd.toc
2. cdrdao write --device 0,0,0 --driver generic-mmc vcd.toc                   

If you want to do it on the fly,
cdrdao copy --driver generic-mmc --source-driver generic-mmc --device 0,0,0 --source-device 0,1,0 --read-raw --on-the-fly