cdrecord: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/cdrecord - from package: wodim

You may install the required package with command yum install {package}

Error in other languages:
cdrecord: bevel nie gevind nie
cdrecord: comandă negăsită
cdrecord: comando não encontrado
cdrecord: commande introuvable
cdrecord: command not found
cdrecord: käsku ei ole
cdrecord: không tìm thấy lệnh
cdrecord: komanda nerasta
cdrecord: Kommando nicht gefunden.
cdrecord: kommandot finns inte
cdrecord: komut yok
cdrecord: nie znaleziono polecenia
cdrecord: níor aimsíodh an t-ordú
cdrecord: no se encontró la orden
cdrecord: no s'ha trobat l'ordre
cdrecord: opdracht niet gevonden
cdrecord: parancs nem található
cdrecord: perintah tidak ditemukan
cdrecord: príkaz nenájdený
cdrecord: příkaz nenalezen
cdrecord: команда не найдена
cdrecord: командата не е открита
cdrecord: 命令找不到
cdrecord: コマンドが見つかりません