there are 2 things you can do
cause professional vcds sometimes have copy protection as well as dvds do

1- would be to try extracting the file using a decryption utility such as voddecc, or dod speedripper then burn with the gyp files
or(I HAVENT TRIED THIS ON VCDS)

2- takes much more time but will rip the vcd succesfully is to make an image of the vcd using cdrwin and the convert the image to mpeg format using vcdgear 2.0 then burn as usual
(i have done)