In RDWorks, under USER tab in the work panel on the right, select PROCESSING. Under CUT PARAMETERS you will find the IDLE SPEED. This is the "rapid" or non cutting speeds. Hit the WRITE button after changes to save to controller.
At the bottom of that list there is the KEY SETTING selection item. This allows setting different speed and acceleration profiles depending on the type of job/precision is required. There are 5 profiles to work with.