Can anyone please help to complete my hookup of me CM106ESS for Mach Turn

I'm confused with VOC Power select.
Manual reads " Open collector output port, It is assigned 6,7,8 & 9 in Port2 and can join motor driver & can link wit the relay for exterior control too. ??
Power VOC using here can select below pins (See Schematic)
If you connect with motor driver, use 5V if the relay, Use 24v.

Also
Can I hook up all Pulse+ & Dir+ from all drives to a common 5Vdc supply or can I leave them as shown in the schematic. ?
Where do I connect STF,STR and MRS ?
Where do I connect the other pin of the Estop?
Where do I connect my limit switches. ?


I know I'm being a bit thick but I want to make sure I get it correct.

Once that's done I can ask about spindle encoders 

Many thanks

George