IIRC, the 5xxx and 6xxx machines had an on-board IDE driver in ROM, early machines partition map didn't contain a driver partition at all, at least the LC630 didn't. The driver loads off the disk (if present) sometime after post.
When you used OSX, did you partition it as 'Apple Partition Map' rather than 'GUID' or 'Master Boot Record" ?
What I've noticed is that if you select the 'APM' and partition, but then use 'erase' on a Volume, OSX will write a 'GUID' partition map to the drive.
IIRC Drive Setup 1.7.3 is the minimum you should use, and it should work with any drive connected natively to the IDE BUS. It doesn't work with ANY drive over USB or Firewire on classic MacOS.
If you connect the drive's data cable, but leave the power cable disconnected, then boot from the CD, and run Drive Setup 1.7.3 from floppy, you may get away with connecting power to the drive, re-scanning for drives and see if you can format/initialize the drive. According to Apple, again IIRC, "low-Level" format on IDE drives is the same as "write zeros" option selected and isn't really 'low-level' at all. The Low-Level Fomat option was greyed out in later revisions of Drive Setup for ATA drives.
I know the above sounds potentially catastrophic, but I've used that method without damage to prevent whatever it is from balking the system.
Be prepared that when you connect power to the drive, the system may bomb/freeze/lock-up if it gets upset by dynamically attempting to load drivers or partition info from the drive.
The only other alternative that I can see would be to pop the drive into, say, a Windows PC, and delete all partitions and f-disk it so it's essentially blank. I haven't done that on systems since WinXP and I believe that from Vista onwards things changed with respect to formating drives.