It's easy to make boot disks on old Macs for older hardware, but as the years have gone on, it's gotten a little more difficult. Here's how to make classic Mac OS 9 and early Mac OS X boot media on ...
The SCSI controller needs to be set to boot from attached CD drives in it's own BIOS, in addition to the Motherboard BIOS setting you mentioned. You don't need to set the ID of the CD to 0 though.