You didn't mention which Motorola box you have. I use a 950 with a Motorola DCT5100.

If you want to watch HD you have to use the Video 1 component input. Forget "Sat", just remember that V1 is cable TV. Of course I use an MX-500 remote so I can label my devices correctly.

I have my box connected three ways: component for HD only, S-Video, and RF hookup on TV. I find my Comcast cable analog stations look slightly better through the RF feed than either component or S-Video. Buttons on my remote have been programed to allow switching between the three.

When using component on the HD channels the menu displays. Menu's will not display through on the RF input on the HD channels. That's a non-issue for me since I want to use component for HD since that's the only way HD works on this box.