Thank you all for your responses.
My situation right now is that I have a PLC acting as a Modbus TCP/IP server to two slave servo drives. What is happening is every now and then an interruption in communication will occur, and the communication between the PLC and one or both of the servo drives will hang. The only way I can get it to restart is by rebooting the servo. Rebooting the PLC has no effect. What I believe is happening is that the drive is leaving the socket "half open". After that, all the socket open and close requests from the PLC appear to be ignored. The drive continues to communicate ethernet, (via my PC), but refuses to accept any new requests from the PLC until rebooted. I guess I am looking for the tool that gives me the most control over everything (open sockets, closing sockets, timing etc.). Modscan is working fine, but doesn't appear to be letting me "behind the scenes" so to speak.
I think I am now going to give the chipkin thing a try that Ken suggested. It looks as though they have a TCP version as well.
Thanks again everyone for your suggestions.