I'm a bit confused here, your servo drives are Step & Direction input? Do they have an option for a +/- 10V analog input?
By bringing both pins out (+ & -) they allow you to wire the system either for NPN or PNP input. Gives you more flexibility in the controls. I normally like to use NPN where possible, more noise resistant. In that case 5V+ would be wired to the + pin, and the input would be wired to the - pin. This would require using the NPN output from the controller if it is available.
The Kflop board should output a 5V signal for the Step & Direction inputs of the Dynomotion boards. The encoders, if you have them will, connect to the Kanalog board, but this is where I am really confused. The Kanalog is designed to run a closed loop system with a +/- 10V analog signal out, with encoder feedback. External encoder feedback is not normally used with a Step & Direction drive. The encoder, if it exists, is normally used for position correction by the drive and is not wired to any other device. Having said that, there are systems that can use a second encoder input to ''double check'' the position and autocorrect. But those normally have one encoder on the leadscrew and one on the load or something like that. A rather uncommon system.
You won't be using 24V for the Step & Direction signals.