I got an amazing deal for this arm on Craig's List. It's missing the controller and I'm unwilling to pay the amount of $$ those things go for, so why not build one from scratch? How hard could it be? ;)
This arm is a CRSPLUS A460.
I'll add more when I get a chance....
PM Field Servo Motor
MH3515-228D - The arm has three of these: base rotation, segment 1 actuation and segment 2 actuation. They're from Cleveland Machine Controls.
SUMTAK Differential Linear Encoder
LDA-051-1000 - These are the position sensors for the MH3515-228D servo motors.
HP Rotary Encoder
HEDS-5310 - These are the position sensors for the servo motors in the arm extremity. Each one is coupled to a 24v DC servo motor.
Tonight I pulled out the scopes and power supplies and analyzed the HEDS-5310 single-ended incremental encoders that are used on the extremities of the arm. There are five wires: Vcc, GND, Chan A, Chan B and Chan I. I was able to use my Saleae Logic 8 analyzer to confirm the output of the encoder so I know that they work and that I'll be able to process their output.