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Circuit to integrate BeagleBone Black with Pressure Regulator

I am using BeagleBone Black as controller in an industrial application to control a proportional pressure regulator (Festo VPPM-6L-L-1-G18-0L10H-V1P-S1) which is the actuator of my project. The pressure regulator has an input signal range of 0-10 volt. 

I understand in this case I have to used a DAC (because BBB does not provide any analog output) along with an optocoupler to ensure an electrical isolation. As far as DAC is concerned, I will prefer any suitable DAC with I2C or SPI connectivity. Can anybody suggest a suitable DAC for this application? If you can share circuit diagram, it will be immensely helpful.