400 Hz is 24k RPM. Just multiply Hz by 60.
You can figure out your travel speed by programming a linear move, say 100mm, and time how long it takes. The longer the move, the more accurate you can measure. Then just divide mm/s. The cutting speed in the video looks OK to me. That is a long small bit. You might be able to do more roughing with the larger bit and then finish with the smaller bit at a higher feed rate if you are taking less material. You'll have to experiment with the cut quality at different speeds for different materials.