The first thing you have to do is identify which is the proper device that "maps" to the DVD-RAM drive.  You can do this via the "dmesg" command or examining the boot information in the /var/adm/messages file.  In my case my DVD-RAM drive was /dev/sr0.  First I created a mount point:

mkdir -p /mnt/dvdram

next, I added the following line into the /etc/fstab file:

/dev/sr0                /mnt/dvdram     udf     rw,nosuid,uhelper=hal,uid=500  0 0

Once that is done, you can mount the drive usign the mount command or rebooting the system.  I tested the mount command first by:

mount /mnt/dvdram
/dev/mapper/VolGroup00-LogVol00 on / type ext3 (rw)
/proc on /proc type proc (rw)
sysfs on /sys type sysfs (rw)
devpts on /dev/pts type devpts (rw,gid=5,mode=620)
/dev/sda1 on /boot type ext3 (rw)
tmpfs on /dev/shm type tmpfs (rw)
none on /proc/sys/fs/binfmt_misc type binfmt_misc (rw)
sunrpc on /var/lib/nfs/rpc_pipefs type rpc_pipefs (rw)
fusectl on /sys/fs/fuse/connections type fusectl (rw)
/dev/sr0 on /mnt/dvdram type udf (rw,nosuid,uhelper=hal,uid=500)