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If you have X1 and are in a cloud area, you can, but the older DVR's and non cloud X1 area's you can not download recordings from the DVR.
i have the TV app on my ipad.
You need to have the cloud dvr codes on your account to get access to your recoridngs. Please contact our online chat team: https://www.comcastsupport.com/ChatEntry/Protected.aspx?auth=1&