Hi,
I have used Mach for years, first Mach3 and parallel port motion controller, and for the last six years Mach4 and an Ethernet SmoothStepper motion controller.
Either Mach3 or Mach4 would do as you require, and more besides. Its not so much that they are adequate but both so much more capable.
Of the two I prefer Mach4, its careful and modular design using Lua as a scripting language allows for very flexible and comprehensive customisation. It's
ready facility to be customised is perhaps its greatest strength and compares well or better than most of it competitors in that narrow regard.
Craig