Ok, I have it mostly figured out now. A few unclear points still, but someone with an Arduino should be able to drive these power I/O boards now.
1) There are 4 address lines(A0-A3). A3 is used as a select for the two 74LS138s. IOSTB is the IO Strobe line from the CPU. It must normally be low, since it's tied to the 2nd active low enable line on both 138s. The 138s are 1 of 8 decoders, so they have 8 outputs. So:
000 = Output 0 is active.
001 = Output 1 is active
....
111 = Output 7 is active
2) There is a data bus that goes through an 8 bit transceiver, the output of which is sent to the normal drivers. However, the original data lines are sent to the Aux In ports. Not sure why they needed to be different.
3) Which leads me to the meat of things. To activate the first drivers on the Solenoid Bank A, you should just need to write 0000(000 to the addresses, A3 being 0 activates U204, which means that 000 is SOLA active) to the address side, and 00000001 to the data bus. IOSTB has to be low to indicate a valid address.
There is one major caveat. The light matrix return has to be activated at least once every 50ms. If you aren't scanning it, then you need to call 0001 xxxxxxx1. If you are running the lamp returns, then this should be taken care of.
The BRESET line needs to be driven high. This is fed into the watchdog chip(U210) and will shut down the I/O board otherwise.
I'll post the pinout soon.