How many wires are going to the motor itself?
It may be a stepper motor with a encoder, which if I am right it really doesnt need the encoder.
But if they are servo's then you will have to figure out the encoders.
Did the controler box come as part of the package?
It would help to have close up pics of all the hardware, cant really tell anything with what you posted. Brand & #'s of the motors, the boards in the controler & brand if known.