Series 2 is not new tech and you need to connect the cable box to the composite (yellow) and audio (white/red) inputs. You would not get good video quality on a HDTV, but under best recording quality it may not be as bad.
Original S1 (Recycle Heaven)
Series 2 (PLS, sold)
TiVo HD (XL, PLS, "652")
Juliet Basic (4XL, PLS)
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to start streaming on Roamio/Bolt!