I have the 201s, the 210s have selectable step multiplying.
You need some sort of a breakout board with the pinout, I use axxus technologies breakout board that takes 12v and feeds the drives the 5v they need and has all the inputs and outputs that it can use.
The drives need 5v to run and between 24 and 80v for the motors, for my motors I would try to push 80v for the maximum speed. You would need simple stuff like current seting resistors, capacitors if using unregulated power supply, your suposed to put a 470uF 100v cap on the voltage input. All that and you know, the regular, wire, power supply and all.
I bet maybe you could get that table to move at about 10ipm max with those motors
probably have to gear them down with pully reduction.
You would have to set up turbocnc accordingly to the setup, set the step and direction pins and all of that, or just hook them up like it already has, then set the max frequency to give you the max rapids and acceleration so you dont loose steps.
Jon