I'm afraid that I don't know about rotary wing or lighter than air, but I'm sure that somebody else can fill you in. The detail of the limitations are in subpart A of each code, but here's the summary...
Ultralight Depends upon country, not a universal term.
Microlight Max 2 seats.
Max stall speed 35 kn
MTOW <= 450kg (2-seaters) or 300kg (single seaters).
JAR-VLA "Very Light Aeroplanes" Non aerobatic
Max 2 seats
Max stall speed 45 kn
Max 1 engine
MTOW <= 750kg
JAR-22 "Sailplanes and powered sailplanes" Max 2 seats
Max stall speed 43 kn (without ballast), 48 kn (with ballast)
Max wing loading 3 kg/mē (MTOW / spanē)
MTOW <= 850kg (powered), 750kg (unpowered)
JAR-23 "Normal, utility and aerobatic aeroplanes" Max 9 passenger seats
Max stall speed 61 knots (single engine or under 6000 lb only)
Max 2 engines
MTOW <= 5,670 kg
JAR-23 "Commuter category aeroplanes" Max 19 passenger seats
Max stall speed 61 knots (single engine or under 6000 lb only)
Max 2 engines.
MTOW <= 8,618 kg
JAR-25 "Large Aeroplanes" Pretty much anything that doesn't fit any of the above categories.
FAR-23 As JAR-23 categories, but as many engines as you like.
FAR-25 As JAR-25.
Hope that helps. All the stall speeds are obviously CAS not IAS, and each category is tied up to a set of safety requirements - as a general rule on everything but empty weight the higher the MTOW, the stricter requirements (on empty weight, it's the reverse, the lower the MTOW, the stricter the rules about max ZFW - which makes sense when you think about it).
Definitions like "SEP", "SEL", etc. exist separately and are all in JAR-FCL1 which you can download from the JAA's website at
http://www.jaa.nl/section1/jarsec1.html .
G