ERJ- no true VNAV. My airline tells us to set the first hard altitude, and continually monitor the descent, backing up with mental math. I like to keep the VNAV data page up during the descent, and verify crossing altitudes in the W/T menu of perf planning. This gives you an estimate of where you will cross within a window, and allows you to plan energy management a little more effectively... Not that it's really a problem in the ERJ, just good habit I guess.