Honestly I would use the pixies. The motors and drivers are a tuned matched set. Save some money and the headache of rewiring. You will gain nothing by going with new motors. Then you have to spend time to tune them if you use new drivers.
Either that or a Galil card. That will give your analog out to the drivers.
The VFD should take a 0-10v in. I used a little card from
http://www.cnc4pc.com that converts step/dir signal into a signal for the vfd. You should be able to use the analog output of the grex for this as well. Or at least someday.
I just spent the $ today and ordered my Grex.