If the PC can run Windows XP, and if the PC is equipped with it's own (built-in to the mother board) Parallel Port, then I would recommend purchasing a G540 controller card from Gecko. It will be neccessary to do some of your own wiring, but you should be able to get it running under Mach 3 control.
Things you will need to know:
Motor type (Stepper or Servo)
Voltage ratings for each motor
Ohm readings for each coil of each motor (stepper type motors)
Whether the motors are Unipolar or Bipolar motors.
If you can obtain all of this information, and post it here, you may find that others can help you to get things going. For this is the very first information they will need to help you along your path. Unfortunately, there are just so many variables to all of this, that it does require a certain "Process of elimination" to even begin to help someone.