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By far the best way to do control via LabVIEW would be to buy a stepper motor controller, i.e. hardware specifically designed for controlling stepper motors, and then control that controller. Doing that would be far easier than trying to manually send signals to a motor with a cDAQ. If you have a budget for that sort of thing, try getting that instead. You might be able to find one controller for 6 axes, or might find 1 controller that you buy 6 of.
Trying to control them manually via LabVIEW and just sending DAQ signals might work but would likely be a much harder project to do. At the very least you'd probably need some form of an amplifier circuit since the cDAQ isn't set up to output anywhere remotely near the 3A the motor you mention can consume.
Theoretically you could do the same with CompactDAQ and DIO modules to send out pulse trains, but it won't give you the flexibility and precision as a dedicated motion controller will give you. More info in my other thread here: