The declared values are nominal, without any load applied.
The actual RPM under load depends on a lot of factors, spring rating, gear ratio, shimming, ETU, wire gauge, battery voltage, battery current and so on.
Generally it's impossible to achieve 100% efficiency to the declared value unless said value is not true.
For example my 36k warheads are 25k nominal on 7.4v but the actual RPM under load is closer to 20k rpm.
Most ETUs control the rate of fire by sending semi auto impulses at different frequencies which, as Lozart mentioned, doesn't affect the actual cycle time of the motor/gearbox.
For example, if your gun cycles in 25 milliseconds (netting a FA rof of 40 RPS), full auto at 50% won't make the gun cycle in 50 milliseconds, but rather cut the cycles in half (so 25 millisecond cycle, 25 millisecond delay, 25 millisecond cycle and so on to achieve a "finished" rate of fire of 20 RPS).