I figured it out. Mango does the conversion. Thanks for your help! I've got it all setup now and working great.
For anyone else who's needing help, these are my settings. Then followed the steps in the manual[6-38]
For Dynamic Velocity
First, setup a pulse profile in ctrio workbench
Use the following offsets/range/data type:
Command Code - 0/Holding Register/2byte BCD
Parameter 1 (File #) - 1/Holding Register/2byte BCD
Process Command - 71/Coil Status/binary
Command Complete Status - 71/Input Status/Binary
Command Error - 70/Input Status/Binary
Enable Output - 64/Coil Status/Binary
Parameter 3 (Target Velocity) - 12/Holding Register/4byte Signed Interger Swapped
Suspend Output - 66/Coil Status/Binary