You can download the needed software from here:
http://www.futaba-rc.com/software-updates.html
With the proper software, you use the CIU-2 to program S-Bus and S-Bus2 servos.
The opening paragraph of the S-Link software instructions, for example, states that you need to use the CIU-2 interface with an S-Bus hub and a servo battery pack to program the BLS171HV, BLS172HV, BLS174HV, BLS175HV, BLS272HV, S3070HV, S3071HV, S3072HV, and S3172SV programmable servos.
The tech note is old. If something can be programmed via a PC, then you will use the CIU-2 interface to connect the Futaba hardware to the computer.