Switching feedback on-the-fly can be implemented in the RMC by using Custom Feedback. Attached is an example project that demonstrates this.
This involves creating a user program that assigns the value of the selected physical feedback to the feedback value of the control axis. This user program must do this each loop time. Therefore, you should make sure that the RMC starts in RUN mode and that the user program will always run.
The attached project, together with the Switching Feedback on the Fly topic in RMCTools, will get you up and going quickly.
Custom Feedback requires firmware version 3.54.0 or newer.
SwitchingFeedback.rmcproj (40.7 KB)