Do you mean that the motor has a resolver rather than an encoder and that the servo drive accepts resolver feedback?
If so then yes you can use as long as you have some form of encoder or glass scale feedback from the axis to the CSMIO.
Usually servo drives can output simulated encoder pulses for a controller and I think the S603 can do that, so you could either use them or I think you mentioned previously you have glass scales on the axes, if so then you can use them instead.
The only thing you need to be aware of when using a glass scales is that if there is any backlash in the axes then tuning can become problematic.
Hood