When you are using a HDMI connection and another to a different TV, you can get that error when you turn off the HDMI connected TV. One thing to try is to use a secondary HDMI of the TV if there is one.
Original S1 (Recycle Heaven)
Series 2 (PLS, sold)
TiVo HD (XL, PLS, "652")
Juliet Basic (4XL, PLS)
The TiVo Apocalypse begins on Sat 2013 Feb 16 00:00 GMT!