Chaz to many over lapping questions it's going to get confusing and dangerous if not careful.!!

Regards the Outputs it's Digital output you need not analog.
Analog is only for controling devices that need 0-10V Also don't confuse the Motor Analog outputs which +/- 10V with 0-10V.!! . .. Very easy done.

Regards motor tuning and setup then yes you still need to set this up. You'll need to know the Encoder resolution, any gearing ratio and the Pitch of the ballscrews to workout the correct steps Per unit in Motor tuning.