OK, I'm looking forward to seeing what kind of hardware and devices you have there. It's hard to give advice without knowing. Somethings to consider:

You say you power it with 240 volts and can supply 50 amps.

*Sabertooth motor controllers only accepts 6V-33.6V DC from a Battery or Power Supply. You would need to convert (buck) that 240v down to between 6V-33.6V DC. May I ask why are you supplying 240 volts AC? What are your motors rated to run at?

*There are several different Sabertooth models rated for different amp loads. Each ST will run two motors and it's rated for the amp draw of both motors. So if each motor will pull 20 peek amps then you will want a Sabertooth 2x25 or larger.

*The Sabertooth generates regenerative power. In short it returns power back to the battery when it slows down or breaks. This is good if you are running directly from batteries as it will help recharge the battery. If you are powering your controller with a power supply converter (Like it sounds like you want to) the regenerative power will likely burn the power supply out. To avoid this you'd need to wire in a battery between the power supply and the ST to have a place for the regenerative power to be dumped. It's all documented how to do this on their web site. There is one model of the ST that lets you avoid this. They have the 2x32 Sabertooth. It lets you install a resistor that acts as a voltage clamp and you can avoid wiring in the battery. I use power supplies and I went this route even when using smaller motors that pulls much less then 32 amps the 2x32 can take.

Good luck and keep us posted! Have fun!!

Here is motor 1 of 6  170 VDC 12.10 amps.

So the Drive takes 240 VAC and puts DC to the motors.

More on the encoders etc. when I get a hold of the suppliers tomorrow. Hope ARC can work, I am sure there's a way!

Xenus XTL-230-40  This is the motor drive with a set of amp handling units. I have 6 units that go from 6 amps up to 20 amps.

I found the manual online. I don't remember yet just how these unit drives work with the Douloi.

Maybe one of you have knowledge in this area. I will keep digging to figure it out. Thanks, any thoughts?

Here we see what is connected that tells encoder type.

OK, now I see why you are supplying 240v. Your motors run on 170V each. My suggestion of using a Sabertooth/Kangaroo will not work. The ST will only supply up to 33 volts fed directly from your power supply.

The Xenus XTL-230-40 you show is apparently doing the same thing the Sabertooth/Roo would do in much the same way. It looks like that is where the logic commands to move your motors go to from your computer. It also looks like you have a separate device to collect the encoder info and send it to the Xenus XTL-230-40? This is just an educated guess as it's hard to see your wiring and how it all hooked up.

As it stands, it looks like you are back to trying to find out the communication type and protocell in the manual as @DJ suggested in his post #1. If they are simple servo commands then ARC can probably interface.

At this point this is over my head. Sorry. The only thing I know to suggest short of a complete rebuild would be maybe getting a more modern controller that can handle your high voltage motors and can interface with a microcontroller like Arduino and EZB. Again, I'm kinda lost from here on.

Please post back and let us know if you find that communication type and the commands to operate the motors. I hope you find a way forward.

Thanks, working on it and will keep you posted. I still don't know exactly how EZ-B and ARC work together but I'm getting closer.

Well, it's really EZ to understand. LOL 

ARC is the control software that runs on a Windows computer. That's where you send commands from over WIFI or a direct USB connection to the EZB. The Your motor controller (that controls your motor, LOL) plugs into the EZB. depending on the communication type the port used on the EZB is the UART port. EZB has three of these ports.

ARC can also control many other things like servos, LEDs, relays and lights through the EZB. There is much more these two can do like voice recognition, face and object recognition and navigation. I really don't think there is a limit. It seems to have limits on interfacing with old technology like your's but if you can get the protocol figured out and you have the knowledge to do it there is always a way.

It's best to take a little time and study how ARC works and what an EZB is. (hint: you can turn an Arduino and some other microprocessors into an EZB). Check out the Support section for easy to understand articles on all this. Click through the menu on the left side: https://synthiam.com/Support

While your at it check out the tutorials: https://synthiam.com/Community/Tutorials?

So I think the motor drives are doing the PID work and the Douloi is listening in on the progress of the motors reaching the commands. I found out that the Douloi manufacturer has still been in operation at least up until a few months ago. Even though my attempt to reach them all last week didn't get any response. I have found I think a company that is still incorporating the doulois in their automated equipment that they build and sell currently. Should know more by Wednesday coming up. So we can start to see light at the other end of the tunnel. Is anyone else using 170 VDC motors on their systems with EZ-B and ARC?