you don't really need a scope for setup.
what software are you using for control?
Did you follow your instructions with the gecko setup and tune?
servos don't really miss steps, they have a following error but not missed steps.
if there is an actuall missed step and the gecko isn't picking it up then maybe your encoder signal is getting interferance of some sort. You need shielded encoder cable and if your not using quadrature encoders you should save your self some heart ache and get a converter for quadrature output.