A DC motor with a PM field will be distinquishable on the nameplate by having no field data and in the junction box by having no field leads (F1 and F2 or S1 and S2).
The vast majority of AC motors are induction motors and do not have permanent magnets. Those with PM's will not have any slip, ie, the rpm at 60hz will be exactly 3600/1800/1200/or900 etc.
Servo duty motors, whether AC or DC, will not have a kw or hp listing on the nameplate and will generally say "servo" somewhere. Most but not all servo motors have permanent magnets, whether AC or DC.