Thanks Lawrence,
I'm not talking about regular RMD, which has been out for a while.
I'm talking about a new, modified RMD waveform callled RMD-P.
I don't know the details behind it yet, but it seems to be a combination of RMD and Accu-Pulse.
It's only available right now through Miller Axcess "E" technology.
I believe it's still undergoing BETA testing.
I used it yesterday to make a manual 4mm fillet, on 14 ga CS sheet, in a T-joint with a 2mm gap, with an .035 WFS of 500 IPM, at a travel speed of 32 IPM.
I bet it will really fly in a robotic situation.
Tim