The Centurion 1 control dates back to about 1990. It's pretty obsolete, but you might be able to get it running again. It might not be worth it, though, unless you just want to make very simple parts. Does it give you an error message when it faults out? It could be a mechanical issue (like old congealed grease in the ball screw), in which case a thorough inspection and cleaning might help. But probably that old controller is dying of old age; the plastic parts are failing, and as soon as you fix one thing something else is going to crap out. It sounds like your servos still basically work, but you should think about a total brain transplant (don't get an evil brain...)
Milltronics is still in business, so it might not be a bad idea to talk with them about your problems. But be sitting down when they tell you how much the new controller they'll want to sell you costs. https://www.milltronics.com/service/