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First you should know if the image you want to burn is for PC, for PSX or a VCD.

Second, you have to divide the size of the image by 2048, 2336 or 2352. The number that gives you an integer number as result represent thw way in which data have been extracted by the CD_ROM.
For instance: if you have an image whose size is 541,195,200 bytes then it means that a 230,100 SECTORS image was extracted from a CD-ROM, using the standard 2352 bytes/sector (this is the most common standard used, also called RAW format).

Third, you have to prepare a .CUE file like the two belows (use notepad then save-as-text):

1) for a playstation CD or a VCD use:

FILE "name-of-the-file" BINARY
TRACK 01 MODE2/2352
INDEX 01 00:00:00

2) for a standard CD for PC use:

FILE "name-of-the-file" BINARY
TRACK 01 MODE1/2352
INDEX 01 00:00:00

The CUE file contains three informations:
a) the name of the image you want to burn. You can include the whole path or, if you put the .CUE and the ISO in the same directory, only the file name e.g. "image.BIN" or "image.ISO".
b) the way data have been extracted and have to be written. MODE2/2352 is RAW format for PSX and VCD and MODE1/2352 is RAW format for PC. (The flag AUDIO is also used for audio CDs, but they are more complicated becase they have many tracks - the songs - starting at different intervals)
c) The sector size (in this case, 2352 bytes). This number is the result of the investigation you made above. You could also have MODE1/2048 (PC 'cooked' format) or MODE2/2336 (PSX/VCD 'cooked' format).

The CUE above mentioned is good 90% of the time but will NOT work if the CD was non-standard (mixed mode, with both AUDIO and DATA, or protected CDs).
In this case you need to contact the guys who gave you the ISO because when they prepared it. Their software (e.g. CDRWin) generated, during the ISO extraction, also the proper .CUE file. No other way will work.

I hope I was of some help.

P.S.
Here follow some examples of exotic .CUE files. You'll notice that more than one track exist. Since the position of the second track is never known, in order to burn the image properly you absolutely need the cuesheet file.

example 1:
FILE "NAME.BIN" BINARY
TRACK 01 MODE2/2352
INDEX 01 00:00:00
TRACK 02 AUDIO
FLAGS DCP
PREGAP 00:02:00
INDEX 01 52:42:06

example 2:
FILE "NAME.BIN" BINARY
TRACK 01 MODE2/2352
INDEX 01 00:00:00
TRACK 02 MODE2/2352
INDEX 01 60:58:63

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