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Printing RL-ARM User's Guide?

I recognize this sounds terribly old fashion, but is there any way to print out or otherwise get hard copy of the RL-ARM and related User's Guides?

I know that these documents are available on-line and one can right click and print out the web pages, but the formating leaves something to be desired. Might these documents be available in PDF or similar format?

Thanks for your time,
Doug

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