Velodyne Servo F series Sub with Yamaha RX-V1000

Hello,

I have an older Velodyne Servo F series subwoofer that I would like to integrate into a home theater which is powered by a Yamaha RX-V1000 receiver. The receiver has a subwoofer out in the back however the manual for the sub says "if you receiver has a subwoofer out jack in most cases it is best not to use it for connecting to your velodyne as this could result in low gain and increased noise." It suggests using the speaker outputs. I always though it was best to use the line outputs.

My main speakers in this room are Infinity Beta 20 bookshelf speakers, should I connect the receiver to the sub using the speaker cable connects and then the speaker connections from the sub to the Beta 20's or use the Subwoofer out on the receiver to the line in imputs on the subwoofer.

Any opinions or advice or thoughts on this. I would like to hook this up the best way possible.

Thanks
Mike