Your options are:
1. Use the Ethernet connection on the recorder, which is extremely slow.
2. Use an interface with as many outputs as tracks you want to transfer and play them all at once in real time from Ableton, one track per output channel, into the analog inputs of the HD24.
3. Do like #2 but through an ADAT Lightpipe output from your computer.
4. Remove the disk from the caddy and mount it in your computer (do not reformat), use HD24 Tools (third party software) to perform the transfers.