EMC with STEPPING_TYPE = 3

Hi

I had posted before, looking for advice on how to configure EMC with a
German made stepper drive, called SMC 1500.

I am now at a stage where I get some kind of a response from the motors:
I use
...
EMCMOT = freqmod
STEPPING_TYPE = 3
...

I cant find much useable documentation on this setting of
STEPPING_TYPE = 3.

My interpretation is this. The driver card I use is just some kind of
an amplifier, it does not process clock/direction signals, but needs
the waveforms send out to energize the motor coils. The setting "3"
for STEPPING_TYPE does that. Does that make any sense?

Now, with these settings the motors make a lot of noise and tick back
and forth. When I then jog the motors, the noise just changes.

My assumption is that I now have to calibrate the software to the
motors/drive. This means fiddling with P, I, D and further parameters.
But I dont have the slightest clue where to start, or a method I could
use. When I change the P it seems to have an influence: The rattling
noise the motors make changes. But no idea what I am aiming for.

Does anybody out there use a similar setting, and can post some hints
on how to proceed?

(I also have a DOS programme (PC-NC) that operates the motors very
smoothly through the same driver card, and I would assume that EMC and
Linux would be capable of the same, or not?)


Martin