For your conveniece the configurations for the clearpath servos can be downloaded here: download link
These configuration files have been made with Clearpath MSP 2.0 software and might not work on future newer versions, but note that the configurations are also provided in written form in the manual.
There are two configuration files, one for the servo that needs to control the wire tension and one for the servo that needs to control the wire speed. Pay extra attention to use the correct file for the correct servo, otherwise the servos will become unstable and possibly cause damage.