I had that same problem trying to read a CD that had been written by a Sony Mavica Camera. The problem for me was that the CD was written as UDF (or packet-written). If you have used Direct-to-Disc software on the PC then that could be the problem.
Other problems that come up are to do with long file names on the PC side (Joliet structure). Keep your filenames small on the PC side and then you don't have two files with the same name on the Amiga side.
But my best guess is that the CD was written as UDF on the PC side.
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