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Well since the Samsung TV you have has an optical audio output and the Yamaha R S202 only has RCA analog audio inputs you will need both a Toslink optical cable and a optical - to - RCA adaptor. I hate that most new smart TVs no longer have RCA analog audio outputs. Fortunately I just bought a Vizio m507-g1 and it has RCA outputs so I was able to hook my Yamaha R S202 up using RCA cables.
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