Pioneer DVR-540HX-S

Hello, This is my first post and I am seeking some advice on recording to DVD+RW discs. The 150 page manual is far too long and not very explicit especially to some one of 70 plus. I have been trying to record some programmes in advance to DVD and whatever I do it switches over to HDD. I can play DVDs, I can instantly record to DVD but cannot seem to set it up to record in advance to DVD. Furthermore, I can, using the Electronic Programme Guide to record programmes in advance to the HDD but not again, to DVD. Can this be done? (I have other questions which I will ask leter) Thanks in advance for any assistance.