HDMI does not disable the composite and S-Video connections, though, as stated, those only work at the 480i resolution. I think you need to be more specific about the connections you are trying. The DVD recorder should have a set of RCA (red, white and yellow) INPUT plugs in the back, along with, probably, an S-Video input. This is usually the L1 input. There may be a duplicate set in the front, usually called L2.
Take an S-Video cable from the TiVo output to the L1 S-Video input, and Red and White RCA cables from the corresponding TiVo outputs and into the L1 input. (This is all pictured in the manual). ALternatively, you can use the yellow RCA outputs and inputs instead of S-Video, but S-Video may be a little better quality.
Set the TiVo to 480i output. Set the DVD recorder to L1 input. It should be good to go to record (You don't really need to use Save to VCR; all that really does is make it harder to accidentally stop the program).
NOTE: SInce you are using the component output from the DVD recorder to the TV, you may not be able to see the TiVo through the DVD recorder as you are recording; some machines will not convert different signal types on the fly.