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It does play CD-Rs. This is from the manual:
Supported Formats
The ERC-3 is a stereo CD player, and can be used to play all standard (Red Book) audio CDs, including:
• Pre-recorded commercial audio CDs (standard; Red Book).
• Audio CDs recorded on a computer or CD recorder (CD-Rs).
• Audio CDs recorded in the HDCD audio format (HDCDs are standard audio CDs with special audio encoding).
• The “CD layer” on Hybrid SACDs (a Hybrid SACD has both a DSD/SACD layer and a standard Red Book audio CD layer).
• MP3 files recorded on pre-recorded CDs or CD-Rs.