You need to understand the modes. Position is step / direction. Speed is -10 to 10V. This is specific to the servo / driver and has nothing to do with it being used on a router, mill, lathe etc.

For step / direction, you can run them in various modes and also at different voltages. You can have Step +, Step -, Dir + and Dir -, or you can have one of the + or - as a common (determined by what the driver needs), then you need to work out if it needs 24 or 5V and use the correct output from the controller.

Whereabouts are you based? Not too difficult to figure out however one of us might be near to give you a hand.