Hi Ian,
Sorry for the delay in replying.... you posted on the day I went on holiday for a week!
Tivo doesnt have an S-Video output so you need an RGB to S-Video converter from www.JS-Technology.com
You can use the PAL output which will still give superior pictures to the RF output with the added benefit of stereo sound but to get the best you need the converter. That is how I have mine setup.