The servo motors I have used in the past use a PWM (pulse width modulation) signal to control the motor. In saying that, I do not know if there are other types of control signals for servo motors. A PWM signal is usually generated from a counter not a digital line. I am not sure how you are envisioning using the digital I/O lines and a tachometer to control this motor. Take a look at these webpages for some more information on servo motor controllers.
http://zone.ni.com/devzone/prenticehall.nsf/2d17d611efb58b22862567a9006ffe76/679d44e690201d388625684000583d9c?OpenDocument
http://zone.ni.com/devzone/prenticehall.nsf/2d17d611efb58b22862567a9006ffe76/426c0bf46593de5e86256840005bec87?OpenDocument