Ooo ooo ooo! Let me try...
Eh-hem; I get the same darn prompt about 60% of the time. All I do to remedy this is eject CD drawer and then send it right back in immediately (Without clicking anything on screen). Once the same blank CD goes back in, I wait for it to spin up, and Explorer (or whatever it is) basically says "Ok, there it is, thanks." and my burning process moves forward on it's own. It's almost like if you put your blank disc in, then start the burning "software" process thingy, it doesn't always see the disc, but if you start dragging and dropping and even select "Copy these files to a blank disc" before you even put the darn disc in, it will work perfectly once you do.
I hope I made sense, because I never do.