your television has to support ARC (Audio return Channel) over HDMI to use the soundbar with a single HDMI cable. if your TV does not support ARC (and it sounds like yours doesn't), you'll need to connect an optical cable from the television's digital optical audio out to the soundbar's optical input.
ht Panasonic 60" ZT60, Monitor Audio: Silver RX6, RX Centre, Radius 90HD; Martinlogan Dynamo 700, Marantz SR5006, PS3, Oppo BDP-103D
2ch Sony KDL-32W650A, Sony BDP-S1000ES, Marantz PM8004, JVC T-X3 tuner, Monitor Audio Silver RX1, REL T3, Apple TV, Peachtree Audio DAC•iT, Sennheiser HD598
lr Panasonic 50" ST60, Sony BDP-S5100, Apple TV
pc Energy CB-5, Audioengine D1, FiiO A1