3 of the cables (red - green - blue) are component video (YPbPr on some products). The other 2 red and white are right and left audio.
On some Motorola dvr boxes there is a lower row of jacks that match. If your box only has HDMI out and the TV doesn't you will need a converter. Check with your cable provider to see if they can supply a box with the correct output before buying a converter.