These devices have an Auxiliary (Aux) connector. Pins 7 (Rx Audio) and 9 (Ground) can be connected to an analogue channel on the Total Recall VR recorder (to either pins 3 and 4, or pins 2 and 5 of an RJ12 connector on the recorder).
You may have to adjust the level of the audio as described in the basic service manual for the products.
Note, the SLR 5000 series support up to 64 radio channels and we do not recommend that you record all radio channels on a single analogue recording channel. Instead consider using a separate UHF donor radio for each UHF channel that you plan to use and connect each of the donor radios to an individual analogue channel on the Total Recall VR recorder.