We did a Laser engraving feedrate test with Larry's MultiMode grbl 1.0c and here is the results.
The size is 9" X 9" and we used the Extended Edge & Skip White in PicEngrave Pro 5. The image was Dithered Black & White using the Atkinson Algorithm in the image editor & the Max PWM setting is 255 & Min 0 so the laser would just turn on/off. The step over & step ahead distance is .007" and the Feedrate was set at 200IPM, even the Extended Edge. There is 901,805 lines a gcode streamed with PicSender and the run time was 1:10:06 (4206 Sec)
The travel distance of the X&Y axis in the gcode file was reversed engineered to a DXF file and the full length is 13968.822 inches.
13968.822 inches divided by 4206 seconds = 3.321 times 60 = 199.26 IPM. The performance of Larry's grbl & PicSender when raster Laser engraving photos is as good as it gets and the movement was very smooth.
Good thing we have Kevlar reinforced timing belts on our Shapeoko 2 6W Laser Diode CNC machine. 200IPM and instantly reversing directions sure is jarring.