Looking at the electronic version of the manual on page 17 it states:
"Only use speakers with an impedance of 8 ohms or higher. Connecting speakers with an impedance of less than 8 ohms may damage the HT-R520."
So, that answers your first question. I'm sure you could hook them up and they'd work (at least momentarily), but leaving them for any length of time might tax the receiver too much and it'll shut down.
As to your 2nd question, if you have A and B on simultaneously then set A will switch to stereo mode. Meaning that only your front left and right speakers will play from set A + the two speakers wired to set B. I'm almost positive of this, but look at your manual to be sure.
"Only use speakers with an impedance of 8 ohms or higher. Connecting speakers with an impedance of less than 8 ohms may damage the HT-R520."
So, that answers your first question. I'm sure you could hook them up and they'd work (at least momentarily), but leaving them for any length of time might tax the receiver too much and it'll shut down.
As to your 2nd question, if you have A and B on simultaneously then set A will switch to stereo mode. Meaning that only your front left and right speakers will play from set A + the two speakers wired to set B. I'm almost positive of this, but look at your manual to be sure.