Fanuc S10 and LCNC

I am looking at a retrofit of my 1989 S10 6 axis robot, from my research so far, it looks possible.
It has red cap motors with incremental encoders and the C1-C8 commutation.
The servo drives are 2 units, each driving 3 axis, has anyone interfaced to these amps. 
 

Incremental encoders can be used, just make sure they are incremental as i have plenty of times that red caps use some proprietary encoders requiring add on boards to convert to incremental.
Also, try to figure out the drive control type, usually +-10V, but not always.
+-10V cam be easily used with Mesa 7i77 or 7i97 boards, and they aslo have encoder inputs for each axis/joint.
Also see if motors have tachos, they should be wired to the drives.

Thank you for your reply, I had not thought about the amps as being +/-10v input signal, I had assumed that Fanuc amps in the late 80's were using the 6 channel PWM per axis as discussed in this topic 
forum.linuxcnc.org/30-cnc-machines/20837...ation?start=40#64638

So maybe using my existing servo's may be easier than I had assumed.
This is what I think I know:
Encoders are 2000 line pulse coders with Fanuc 4 channel commutation signal, I think the BLDC component can handle that part.
Amp connectors CN1 are 20 pin Honda type.
Motors don't have a tacho.
I have a couple of old 5i20's and 7i48's I wanted to use.

What I don't know:
The pin out for the CN1 connector or where to find that info, so far searches have turned up nothing.
If my 5i20/7i48 combo would be fast enough to do the commutation.
If I find that the amps are not /-10v, what to do at that point.   
 

ddmachine wrote:

Encoders are 2000 line pulse coders with Fanuc 4 channel commutation signal, I think the BLDC component can handle that part.


 

if you use the original amps you won't need bldc. (if they are +/-10V)

Alas, it seems the amps are not analogue, on closer inspection I found the model number A06-6058-H325
Looks like they are digital, but with pulse encoders
They have a single 20 pin Honda connection cable per axis coming from the control, encoder feedback going to the control , but google searching giving no results for pin out data so far.
Is it possible to use these amps with LCNC or should I just replace them.

 

Motor encoder will go to axis control card and drive unit is just a 3 phase PWM power stage 1 to 3 axis
Your Fanuc servo motor type could be 10S - not S10
For document google for Fanuc B-54765E pdf

Thanks for the search tip, that pdf covers the A06B-6050 amps, but it has got me closer in the search for documentation on the A06B-6058-H325 that I have.
Found a few references to the 6058 but with different Hxxx numbers so far.
My S10 number is the robot model with R-H control, seems like they are a somewhat rare beast.

Sorry it looks I gave a wrong version of Fanuc manual number .
It is for previous version to the drive you have.
Try these Fanuc manuals number 65005E & 65002E pdf

Thanks again, exactly what I needed .