I have used quite a few different servo drives over the years from Osai (rebadged Electrocraft BRU) to Allen Bradley DDM, Allen Bradley DSD (which I still have on the plasma, lathe and one mill) , Telemecanique (Schneider/Berger Lahr) Lexium drives (on my Chiron) and even Samsung CSDJ drives. All had some form of software for tuning even the ancient Osai drives (still have a few :D ) it was in Windows HyperTerminal that you tuned it with, it had a rudimentary auto tuning and also a manual tuning and I am sure it had outputs you could connect a scope to.

Alll of the other drives, as said, had software for configuring I/O , tuning etc and all had auto tuning and manual tuning capability. The Allen Bradleys worked reasonably well with auto tuning but could be further tweaked manually if you wished better, the software was very user friendly. Likewise the Telemecanique Lexiums although I would say their auto tuning was a bit better but the software was definitely not as user friendly as the AB ones. The wee Samsung though was excellent, software was decent, not as good as AB but better than Telemecanique but the tuning was basically automatic and worked exceptionally well with no need for any manual tuning on the wee lathe I had it on.