I don't know whether Teckincs have provided a similar facility for their Clearpath servos.
ClearPath DOES have exactly this. Hook a USB cable to the drive, start their software, MANY, MANY selectable options for the "scope." I've discovered that this runs fine while Mach is running and controlling the servo. The problem here will be the dummy (me!) watching the software!!! I was smart enough to figure out Auto Tune, and how to set the error mode, and now, to figure out the following error setting, but the rest seems pretty complicated to me.
I got the ClearPath servos to get away from this PID tuning. The Gecko's have pots and I could never get the Z motor to not buzz all the time, over 8 years of reading posts on how to do it. I actually replaced the encoder, drive, and motor and couldn't get it. I tried CNCDrive servo drives with software PID tuning, but manual, and couldn't get the PID set AT ALL, finally returned all 4 and gave up. Bought ONE ClearPath for the Z, a PS and for future expansion, a Power4-HUB, and it worked flawlessly after Auto Tune. Thought about it for approximately 3 seconds and bought 3 more, done with buzzing servos. My system is WAY better than it's ever been, Mach acceleration higher, top speed higher, NO buzzing/screeching. I could perhaps squeeze more out of it, but I'm happy with it the way it is and I'll tell you, I'm inclined to stop chasing it and just enjoy.
OH, and the mechanics of my system did NOT change, same ball screws, same belt ratio's, everything the same since the Geckos were first installed in 2009 when I converted the machine.
Tom