You can't, hence the copy protection imposed by the cable company. With premiere and newer, you can still stream it.
Transferring = copying
Series 2 (PLS, sold)
TiVo HD 1TB (157 HD Hrs, PLS, "652")
Roamio! Oh, wait, Its Juliet!
The TiVo Apocalypse begins on Sat 2013 Feb 16 00:00 GMT!