Well its clear that 5V can't be common as the manual states SIGNAL , GND so when the signal is active (step or dir) its putting 5V to the signal pin or so it seems. So you cant wire 5V to the drives input optocoupler (depending on the drive you have not stated which you use) and pull other pin down to gnd to signal a step or dir.
to repeat myself pin3 to dir+ , pin4 to dir-, pin5 to stp+, pin6 to stp-. connecting every - pin on the the drive together might be wrong (because each one is a separate optocoupler input with its own +/- pins) depending on the controller and how it handles outputs. If you wire differential outputs connecting all - together then 1) it will not work 2) might damage the outputs
Look at this pdf from CS Labs about wiring differential outputs
http://www.cs-lab.eu/en/upload/pdf/CSMIO_IP%20EN%20differential%20outputs_rev2.pdfUntil someone from PO Labs comes out with an answer I can't tell you which type are the outputs on pokeys57cnc, single ended or differential, you might try measuring with a multimeter if motor connector pins 4 and 6 are the same.