Put the disc in and browse the contents, Compare this disc with the original disc. The file structure, should look the same. If the original disc is not very long, not a 2 hour movie, then it will copy in just a few minutes.
What type of Blank disc are you using? Be sure you are using a disc that is supported by your DVR player. (eg) Do not use a DVDRW disc, these discs need to be Finalized before they can play. Some player only read DVD+R blanks, some only read DVD-R blanks. I have found that most players will read a DVD-R fine. Also, what brand of blank are you using? Use only Name brand blanks, Verbatim, Phillips, Sony, do not use Generics. Many DVR's will not play a Generic disc.
When you Copy a disc, under Disc Copy, the top drive in the menu is the Source drive, Where you are copying from. under that is a drop down arrow for Read Retires, the default is set to 3. This means, that if there are errors on the disc that your Optical drive cannot read, it will do up to 3 Retries to copy everything. You can increase this if you think it is skipping files.
Under Target drive is the drive you are going to burn to, to the Right of this is the Burn Speed, the default speed is Maximum. Never burn a disc at Maximum, burn a disc at the slowest possible speed for the media, like 4X. The faster the burn speed, the more errors appear on the disc and the less your DVR will be able to read the disc. DVD-R and DVD+R discs do not need to be Finalized before they are ejected, but DVDRW and not be readable.