If you want the 6-channels of audio, you must connect the 5.1 analog output from the DVD-A/SACD player into the 5.1 analog input of the 950. Then you need to punch the "6-channel button on the 950 remote (make sure the AUD button is the "active" remote device).

With DVD-A, you can play a Dolby Digital (less quality) version of the DVD-A audio track, and this only requires the use a digital connection between the player and the 950. (This assumes the DVD-A disc has a DD audio track as well as the other 6-channel track).