From the grblControl software you can set them by sending these 3 commands (in order, X, Y, Z):
This will set the correct steps/mm amount for the motors I was working with, you may need to adjust these numbers yourself.
You can do so by measuring the distance the motor moves in millimeters and adjust the value until it is correct. For example, draw a line exactly 100mm long on your cutting surface and set the X-Axis value to 600 by issuing the command `$100=600`, then issue `X100` to move 100mm along the X axis. If it doesn't move exactly 100mm, adjust the 600 value up or down until it does.