There are some tools built into the "DriveTop" software for monitoring the drive from your PC - if that is how you want to monitor it.
From the basic "Operating Mode" screen you can monitor current, position, velocity, torque, etc. From the "Extras" menu you can select "Oscilloscope" to monitor various signals and variables (position, torque, position error, temperature, etc.) on your PC.
Or, you could select "Analog Output" from the "Extras" menu to program the analog outputs to generate a voltage signal that is a function of the internal signals and variables. You could monitor the analog output signal with an oscilloscope.