why can't I make a digital recording of a DVD?


I'm looking for suggestions on how to make a digital recording from a digital music DVD. I have a yamaha CDR-D651 with an optical cable running to my receiver, which the DVD player is also connected. The owners manual on the recorder says I can make a 1st generation copy, but it simply will not record in digital- says "can't copy" on the menu. Any solutions or suggestions? thanks!
gibson58
Post removed 
Tvad, I have taken the music from a concert DVD and put it on CD so I could play it elsewhere like in my car.
I am positive Rwwear. His source is a DVD. Bitrate is does not matter. What digital device he tries to record with does not matter either. The DVD in copy protected and copyrighted. His only course other than analog is the break the law and use a bootlet computer program.

Whether we regard it as illegal or not does not matter. The government considers it illegal. Saying someone on AudigoN said it was OK is not a legal defense in court.
Thanks everyone! I guess I'll try an analog copy first and see how it sounds. Like Rwwear, the purpose of the copy is to listen to it on CD in my car- it's a concert video. What's so frustrating is that the owner's manual of the CDR says that under SCMS copy protection rules, "you can record digital program sources onto a recordable CD disc to create a first generation digital copy. You cannot, however record from this recorded CD disc to another recordable CD disc." If the sound quality is not acceptable, I will look at other options.
Post removed