It´s Possible - See Page 9. in the Manual - Connecting Output Terminals
But i would set the master outputs attenuator level down to -3 dB if not -6dB to protect the amplifier. *See Page 22-23 how to enter Utilities modes*
Test the connection and the output with your Amps and Speakers befor you go live with it.
At office i use a pair of M-Audio BX8 connected true Master Out XLR with no problems.
*there are never stupid Questions- only Stupid Answers*
You should Only connect 1 Pair of Phones to the Front Terminals - like pioneer Reffers in Manual on Page 12-13 (...to one of the ... )
happy scratching :)