On my 5006, to avoid a delay when recording to disc off of a program saved on my TIVO-like (Scientific Atlanta) digital video recorder (DVR) device, I do the following:
First I pause the DVR during a fade-to-black or turn off the power to the cable box. My goal is to have a black screen.
Second, I press the record button on the Lite-on remote, followed an instant later by pressing the Pause button. This records a second or so of black.
Then, I start playing the DVR recording, having backed up far enough ahead of my start point so that the momentary bar at the bottom of the screen will disappear. When I reach my start point, which is an area of black just preceding the start of the piece I want to record, I press Pause again to start the 5006 recording.
Bottom line: When you go from pause to record, there is virtually no delay, unlike when you initially press the record button.