You can feed an encoder or glass scale to Mach via the Parallel Port but Mach itself will not use that information.
You could use the information yourself by using macros, brains etc but the trajectory planning will not use it.
One other thing is the parallel port is limited in the frequency that could reliably be input and 25KHz is likely the most you could expect.
You mention encoders and servos, with Mach it is the servo drive that normally closes the loop and as such Mach itself is still open loop. Some controllers used with Mach can themselves close the loop and update Machs DROs from the encoder position.
Hood