For Dragonframe 5 and newer, you can directly import an FBX file.

For older versions:

The Pacific Motion Control site has a great guide on exporting Maya to Kuper’s ASCII format:
Exporting_Maya_Moves_to_Kuper_ASCII_Data_Files.pdf

Once you have the camera move in that format, you can use the menu in the Arc workspace to import the raw move into Dragonframe.
Note that since Maya is 3D software, you must have Dragonframe axes set up for X/Y/Z and PAN/TILT/ROLL, or their equivalents (vTrack, vEW, VNS, for example).