My Panasonic EZ45 says the DVD is unformatted, but it is not?

My Panasonic DMR-EZ45VEBS says the DVD is unformatted, but it is not. I have inserted a DVD, which I already had formatted on the same machine and I had on it three recordings. Now I am having a message saying that the DVD is unformatted. If I do format it I lose the three recordings. I tried to turn the machine off and on several times. My DVDs are clean and I make sure not to touch them and always keep them in their plastic holder.