I have the same problem. I observe the same behavior at Gutsy (Linux kernel 
image for version 2.6.17 on x86/x86_64, system is fully updated.).
Everything is fine if the CD is inserted during boot, in other case it freeze. 
Believe me -- it is really annoying.

Please, let me know, what should I post here (logs,...)

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system freezes when inserting a CD rom (IDE) with i686 kernel
https://bugs.launchpad.net/bugs/74372
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