No.
You asked this question under "CTRIO and CTRIO2," which would only apply to Do-more PLCs that plug into the DL205 or Terminator I/O. The CTRIO/CTRIO2 output generic pulses for drives as either step/dir or CW/CCW. The faster CTRIO2 might be more suitable to a servo which generally requires higher frequency. However, if you are using Do-more Deisgner, you can also utilize the much easier-to-use Do-more BRX series PLCs for interfacing to drives. They have built-in high-speed I/O and also support HSIO modules (not CTRIOs), which are also more functional, faster, and easier to use. The BRX pulse outputs also can output pulses in quadrature style instead of just CW/CCW and step/dir. They are also even faster than the CTRIOs.
Something to consider.