PicPro is no use but yes you can download DSAPro form here
http://www.glcontrols.com/Support/Downloads/Product/DSAProV1_5.zipWhen you install make sure you select the complete install option as that will give you the motor config utility which will allow you to set up a custom motor profile.
Have a mess around with it and any questions just ask, you will need a serial cable to connect your drive to the computer so you can view and change the drives parameters etc, easy enough to make one up as you only need the three wires.
Hood