Originally Posted by Tivo.com Support page
If you encounter error S01, S02, S03, or S04, please contact TiVo Customer Support.
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!