Welcome to the forum!
Here's some info for you:
- The HDMI connection between your Panasonic and your TV isn't doing anything for your sound. The Panasonic is reproducing the sound, so the connection to the TV isn't affecting that. Also, the HDMI connection is one-way - so it is sending the video (and audio) from the Panasonic to the TV, but not the other way around.
- Your Panasonic has an optical digital audio input, and I'd highly suggest that you use that to connect to your cable box instead of the analog connection (the two RCA connectors that you used). The analog connection will allow you to listen to stereo and matrixed surround (such as Dolby Pro-Logic), but it won't let you listen to Dolby Digital - and your cable might have that on a lot of shows anymore.
If your cable box doesn't have an optical digital audio output but does have a coax digital audio output, then you can get an adapter for that if you want.
EDIT: You added that you have the cable box connected to the TV with an HDMI cable. I forgot to ask about that. Here's another option to the second bullet of mine from above - if your TV has an optical audio output, you could connect it to the Panasonic (instead of connecting the cable box to the Panasonic). If you let us know the model number of your TV, we could check if that would affect the sound.