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Ken:
In all likelyhood you will not need a continuous steady state 9 A. But it may be useful to design for 12 A as your full continuous duty load. This will provide lots of margin.
The bigger question is what maximum voltage your servo drivers can tolerate and what minimum voltage can you work with.
Almost any power supply can be approximated as a constant voltage source, Vs, with a series internal resistance of Rs. Then your output voltage will be
Vo = Vs - (Il * Rs) where the load current is Il.
If you assume a 10% internal impedance, then your no load to full load output voltage will change by 10%.
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