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