Smith-Purcell radiation, generated when a beam of charged particles passes close to the surface of a diffraction grating, has been studied in the visible spectral range at wavelengths of 360 and 546 nm with the low emittance 855 MeV electron beam of the Mainz Microtron MAMI. The beam focused to a spot size of 4 microm (full width at half maximum) passed over optical diffraction gratings of echelle profiles with blaze angles of 0.8 degrees, 17.27 degrees, and 41.12 degrees and grating periods of 0.833 and 9.09 microm. Taking advantage of the specific emission characteristics of Smith-Purcell radiation a clear separation from background components, such as diffracted synchrotron radiation from upstream beam optical elements and transition radiation, was possible. The intensity scales with a modified Bessel function of the first kind as a function of the distance between electron beam and grating surface. Experimental radiation factors have been determined and compared with calculations on the basis of Van den Berg's theory [P.M. Van den Berg, J. Opt. Soc. Am. 63, 689 (1973)]. Fair agreement has been found for gratings with large blaze angles while the measurement with the shallow grating (blaze angle 0.8 degrees ) is at variance with this theory. Finally, the optimal operational parameters of a Smith-Purcell radiation source in view of already existing powerful undulator sources are discussed.