Make sure the AV device and your TiVo box are switched on
Press and hold down Clear and VolumeDown at the same time until the light on top of the remote flashes green twice
Enter the code 1999 to access the AV device code database – the LED will flash green twice
Point the remote at the AV device and press channelup repeatedly until a code mutes the volume for the device – the LED will flash green each time a code is sent
When the volume turns off, press Mute to turn the volume back on
Press VolumeUp / Down and Mute to check that the remote is working with your device. If it doesn’t work, continue to search using ChannelUp until the next code turns off the volume, and repeat steps 5 and 6
When the Volume and Mute keys work, press OK to store the code. The LED will then flash green twice
If you reach the end of the code database, the light on top of the remote will give an extended red flash and exit programming mode.
NOTE: If you think you’ve missed the code for the AV device, you can work backwards through the code database by pressing the channel down button at any time.
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The process to enter a specific code is different to that explained above, and (although I'm not sure if it matters) I have always programmed the remote to control my TV first then programmed it to control the Soundbar.