There are ways to do it, but what you are trying to do is very unusual, as the ESS cannot process encoder feedback from the axis in real-time, so the data may not be useful. The C82 has encoder input for one axis, as it can process the spindle encoder in real time for lathe operations. If you open a ticket and provide more information on what you are trying to do, we may be able to give you recommendations: https://cnc4pc.com/contact/