A 1991 matsurra wouldn't have a Yaz 3000g ,It would have an i80 or Mx-3, sounds like you have a 1981 ....The motors are dc, some yaskawa motors used 12v encoders ,some 5v. The i/o is all 24v. It would probably have a a first generation 626 spindle drive and an ac induction motor for the spindle. These are relatively simple machines. You are not far from Charlotte, where Methods machine tool is, they were the Matsurra dealer in the US until about 2012, they still do service.Id start by calling the service dept and getting a wiring diagram, give them the serial number and model number. Fred or Terry are your best bets for help. There are several yaskawa manuals available from the yaskawa site. Those servo drives are very old and info on them is scarce. This has been done before, it shouldn't take to much searching to find what you are looking for..