Hi James,
We are on a similar adventure as I'm almost finished restoring a 51W56 Singer post bed! The machine has been torn down, repainted and put back together and the table and stand are made. I am going with a servo motor as well. This machine handles DB x 1 needles which go up to 110/18 and have a 1.63 mm shank. I have machined a custom needle bar for my machine that will take 135 system needles and get me up to 125/20 using a 2.00 mm shank. I too want to use this machine to make my own footwear!
Singer 51W56 Parts Manual Condensed.pdf
51W Manual.pdf