In Germany, Belgium, the Netherlands, and most Scandinavian countries, tipping is extra, only if the service is extraordinary. Machines that are used reflect that.
In Italy for example (and some other Mediterranean countries too), tipping is more common. And there often is a service fee ('coperto') of 1 or 2 euro/person when you sit down. It literally covers some extra service that is needed if people use a table.
Standing in a bar, an espresso is 1 euro. Sit down inside and you pay 1.50 for it. Sit outside and it will be 2 euro. More steps to take - higher price.
Well, actually here in Italy the situation is quite mixed. Although in some touristic cities, where US tourists are frequent, tipping is well diffused (but never mandatory), in most of Italy which is outside the touristic circuit tipping is quite badly perceived.
Instead often the opposite occurs: the restaurant owner offers you some alcoholic drink AFTER paying the bill (with no tips). In other cases, they hand you the bill and then ask for some money LESS than what is the regular price, so you get some discount.
A particular case is the places where workers eat. in Italy when a worker is sent "in mission", the cost of the lunch will be reimbursed by the employer, by presenting the "fiscal bill". So it is quite common to ask for a bill at the maximum expense allowed for the lunch (say, 30 euros), even if you did eat for just half. This is a fraud of course, but in many places it is common to get a bill showing an higher amount than what you actually paid.
This habit becomes a big problem for Italian workers sent in mission into the US or other countries where tipping is mandatory. The tip, even if reported on the bill or on the receipt of the credit card machine, is NOT reimbursed by the employer. Never! So the worker is actually paying the tip on his own pocket, and this is unfair, of course. Furthermore, any attempt to compensate this by asking for an inflated bill usually fails, as restaurants in US and similar countries are not prepared to this request (except some Italian restaurants, the few really run by Italian owners, of course).
In the worst case, the restaurant is not even equipped of a machine capable of emitting "fiscal bills", so the Italian worker in mission risks to not being refunded at all. And here I talk for personal experience, I was refused reimbursement for a lot of lunches and dinners, and almost always for breakfast (here in Italy breakfast is not considered a lunch, it usually costs around 2- 2.5 euros max, and no one asks reimbursement for it).
So, when travelling to US for work, I definitely search for hotels where breakfast is included, and for restaurants with "no tips" policy, providing regular fiscal bills.