Rules of thumb are not often much use when considering an activity with as many variables as milling. A lot depends on the type of material, type and condition of the cutting tool, rigidity of the machine and workpiece etc, etc.
A much better way, I have found, is to start with light cuts of 0.25 to 0.5mm, with a new cutter, and see how the machine reacts. You will soon find out if deeper cuts, or a faster/slower spindle speed is/are required.
The same can be said for feed speed – depends on material, spindle speed, depth of cut etc. Again, start at a slow speed (but not too slow, as you don’t want the milling cutter to rub on the material and become dull). The machine will soon tell you by sound and feel if you are asking too much of it.
For finishing cuts, I generally leave 0.1 – 0.25mm remaining, depending again on the type of material and its rigidity. A new cutter helps achieve a nice surface finish…
Best advice is to practice on some scrap material first, to get to know your machine.
Anthony