Assuming you're using Audio 1023,  DVR/BDR is 48773.  Unfortunately, the IR signal for BD can't be sent by the Comcast remote.  

The way to get these EFCs for exactly your receiver is to get the device and function numbers from Pioneer.   Also download RemoteMaster.  Once you have that running, select the 1067BX3 as your remote, select Pioneer 3DEV as the protocol, and enter 162, 165, and 164 into the devices.  The Pioneer codes in the spreadsheet need to be converted to decimal before entering them into RemoteMaster.  For A559+A501 (Speakers A on), select device 165 (A5) and enter 89 (59) as the OBC and 01 as OBC2.
To send BD, you could buy a RCA RCRP05B ($20), or buy  a JP1 cable ($30)
If you get a RCRP05B, it makes more sense to use Audio 1935. DVR/BDR is programmed to digit 8.  BD is EFC 07110.  to use RM, select Pioneer 4DEV, and enter 165 and 164 as dev 1 and 2.  These setup codes and device numbers come from the Lookup Tool.