DMR-ES30VS Editing question

Newbie Question: Just bought refurb’ed DMR-ES30VS. In the manual it discuss’ editing. I am using a DVD-R/W to pratice using the unit but noted I do not get any editing menu keys except for Title edit.
My goal was to break up recorded videos into chapters prior to finalizing.
Now in the sales lit, it talks of editing but it did not specify if it was only for one type of media such as DVD-RAM. The instruction manual seems to indicate this but does not go into great detail.
So, am I supposed to be able and get an edit menu with any media? Or am I doing something wrong?