You should try your test again with a jumper from 200 to 206 instead of from 200 all the way to 209. This should do the same thing, but use the safety of estop, travel limits and overloads cutting power if something goes wrong.
It would be best to control the relay with Kanalog but maybe a mechanical switch as Tom mentioned would be best for now until you get everything up and running. You could come back to this later when you have more understanding on how to control outputs with Kanalog.
After your finished with the relay thing, the next step will be to supply power to the encoders (usually 5v). Then connect the encoder signal wires to Kanalog, be sure to use shielded cables. And finally Kanalog DAC outputs connect to where your applying the test voltage. And then your ready to roll i think, or at least ready to start tuning.