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The PowerFlex 40P is a little more complex than the ordinary PowerFlex 40 drives, because of the Positioner feature, so it has a little more than 300 parameters.
In CCW, there is a button to "Show Non Defaults", which reduces the number of parameters you'll have to write down manually.
On the same parameter screen, there are buttons for "Print" and "Export to CSV" functions, which will let you use any decent text editor to compare the files from different drives.
You will need CCW, of course, and a way to connect to the drive. The Ethernet option module is probably the easiest, but you can also use DeviceNet or ControlNet or a DSI/USB interface if those are appropriate to your installation.