Yaskawa Motors

Hello

I found several Yaskawa Robots in a local junk yard. They use ball
screws and what I think is a
DC servo motor. On the motor nameplate it reads:

Cup Motor
Type UGCMED-04

KW KG*CM rating RPM
V A
----------------------------------------
0.4 22.3 cont
1750 67 8.2
2.0 112 inst
1750 40



or

cup motor
Type UGCMED-08

KW KG*CM rating RPM
V A
-------------------------------------------
0.75 41.7 cont
1750 144 6.7
3.75 209 inst
1750 33

weight 25KG



These also have "feedback units" attached

Feed back unit
Model TFUE-05Zc7

Pin function
------------
A=channel A
B=channel B
C=Channel Z
D=common
E=+12v
F=gnd
G= T.G+
H=T.G-
I=spare




Here are my questions:

1) These appear to be DC servo motors.... What is a cup motor ???

2) They are a bit rusty externally, and have been outdoors for 1-2
years. The rubber brush caps
are intact and there is no rust underneath the caps. The shafts are
protected by th boots covering
the ball screws. Could they still be in good condition internally???

3)The encoder has 2 quadrature channles A and B but what is channel Z?

4) is the T.G+ and T.G- leads on the encoder a tach ???

5) Would these make a good servo motors for large CNC mill (YCM-40) ?

Thanks for any help!!!!

dave