Your main L&R output aside from 5.1 output will contain all 5.1 information. So, without 5.1 input ready receiver or preamp, what you've currently configured is best you can do now.
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Unfortunatley, I think the first guy(Sk on 2/23/00) has the right info for you! Your current setup work's the best. If you try to add other output's dirrectly in to some sort of amp (sans the preamplificatin), I think you'll likely get lackluster (mismatched impedence) dynamics and output from a center channel or rears(my experience over the years anyway!). I think you definitely want to use some sort of preamp or pre/pro, preferably using the digital out of the processor into the pre amp(s)/ pre/pro's, instead of the 6 channel outputs of your digital processor! If you use your DVD as the 5.1 channel processor, and it sounds good for 2 channel music into your 2 channel preamp, you might want to stay with this set up when listening to 2 cannel music (even 24/96). But with DD movie's with 5 speakers, I think the only good way to get the dynamics and output, is to go Digital out in to a pre/pro setup of somekind with sufficient gain levels! Best, Keri