Since Norm's DAC doesn't have a differential output (X- and Y- are just Gnd), what you need to do is to connect either X- or Y- from the DAC (just one of them is sufficient) to X-, Y- and both Gnd on the galvo driver.
To make it extra clear (since you are a mech engineer [I'm a chem engineer myself]
):
Code:
DAC Galvo driver
X+ X+
Y+ Y+
X- X-,Y-,Gnd (both of them)
Now, looking at how you drew the schematic it seems the two circuits share a common ground, so it might not be necessary to tie X-/Y- to Gnd, but better safe than sorry.
One last thing. Keep in mind that the input polarities on the DAC circuit board were misprinted. You need to connect them in the reverse order, that is, +15V is actually -15V and -15V is +15V. Gnd is Gnd though.