Rotate stepper motor in low RPM and minimum vibration
Stepper motors are natuarally resonant around each holding position because the holding torque varies from zero at the holding position out to a step distance away where the torque at its maximum.

  

As such, in a lightly loaded or damped system they can vibrate for quite some time upon stepping. 

Use of micro-stepping reduces this effect by bringing the rotor towards the holding point with less velocity and overshoot. Basically, you do not hit the bell as hard.

Micro-stepping does however reduce the effective torque in an open loop system. Since the motor is really alternating between pulling from each direction to establish an average position. Those opposing forces cancel out leaving you with a lesser net force.

Pulse time for a specific RPM will be dependent on the number of steps per rev (poles) of the motor times whatever micro-stepping factor is employed by the driver. 

\$PulseTime = 1/(RPM * 60 * Poles * MicroSteps)\$

Acceleration and deceleration profiles should also be employed to successfully ramp up and down the pulses at a rate that the motor can keep up with given your worst load and inertial conditions.