Quote Originally Posted by Chaz View Post
So if I do retrofit, the ideal controller here is the CS Labs IP-S ? Will this drive using the existing drives or do you think they will need to be replaced? Same question for the motors.
NO you need the IP-A because the servos are Analog servos and won't accept Step & Dir signals.

You will be able to re-use motors and drives. The motor manual should tell you type of encoders.! But Single ended will have 5 wires. Differential will have 8 or more wires.