I'm aware of the softw but never tried it. I use a mac so the options of burning might be a little different between programs.
You'd need to check your manual about how to change burn speed. As for UDF format, some burner programs can identify the format of a dvd. And some actually give you the option of choosing this format.
There's a support forum here:
1. Here, &
2. and here , &
3. And again , &
4. And also here