Look for John diagnostics tool any good aftermarket
TEXA from Diesel Laptops (very expensive) or go to your dealer and get the customer version of Service Advisor (expensive but way cheaper than TEXA). Either way you are going to part with some cash. If you are just looking to read codes any HD scan tool should work.
What are looking to rea on it ? What model are you working on ? Most heavy duty scan tools will read machine .Depends on the tool how much info it will give you . Pocket Fleet Diagnose is good laptop program that will read a lot stuff. You need a interface like a Nexiq usb link to connect to machine .I will show engine parameters ,codes and more.