In the current 6K Hardware Installation Guide(p/n 88-017547-01 A), it shows connections between the 6K and the Dynaserv and Linearserv. If you have a Dynaserv DM1004B or DM1004C, you should follow the Linearserv diagram, not the Dynaserv diagram. The DM1004B and the DM1004C have the same type drive as the Linearserv.
There is also another correction to the Dynaserv and Linearserv connection diagrams on pages 12 and 13 of the current 6K Hardware Installation Guide(p/n 88-017547-01 A). On the 6K connections, it shows a jumper between COM(Drive pin 14) and GND(Encoder pin 9). This would require a difficult jumper from one connector to another. A better connection would be to subsitute Drive pin 13 instead of Encoder pin 9.