I was going to update my own unanswered post about Pacemaker, but its been locked, so I'll try answering here...
I tried using Pacemaker, it is free now, but there are a few bugs. The animation controls work well I think, but the model failed when I tried to load it to Dark Basic Pro.
Like the other posts here suggested, its not worth searching for help; There aren't even any options for exporting the .x file.
So, the .b3d format comes to the rescue - It means I can use the Physics and IK features of Pacemaker, then export it to Fragmotion to get a perfectly working animation. Furthermore .b3d allows me to set up the skeleton in Milkshape which is much easier, in my opinion, than either Pacemaker or Fragmotion.
Standards FTW.
I'm secretly very competent.