Check this.
From the looks of the schematic and board layout on that board the outputs (three 4 pin screw terminals) are the connection to the motor coils. Check the above link and determine which setup you are wanting to run. You may have to use an ohm meter to determine the coils on the motor so you can hook it up properly. This is just an example!!!
blue - yellow - red may have readings like 1 ohm between blue/yellow and red/yellow but will read 2 ohms between blue/red. This means that blue/yellow is one coil and red/yellow is the second coil OR blue/red can be wired as one coil. If it reads infinity then the wires are on different coils. Then you'll have to determine the other coils the same way.
Hope that makes sense.
The two pin screw terminal is for power input (up to 30vdc according to the documentation). Watch polarity when connecting it up. Once you get the motors and power connected test the motor turning. If it just vibrates back and forth switch the wires on one coil (after shutting off power) and test it again. A word of caution: Never attach or remove a stepper motor wiring from the driver board with power applied. It will let the magic smoke out. I've never done it to a driver board but I've had it happen on other things.
"Good judgement comes from experience, and a lot of that comes from bad judgment." - Will Rogers