Any material that has to move from RG23D warehouse should have Excise invoice(RG23D) generated for the transaction.
What I suppose is for this after doing a normal warehouse transfer, you have to issue the material from the folio of the register maintained for the specific RG23D warehouse. Then you have to raise an Excise invoice for the ware house transfer transaction.
In normal ware house you have to do nothing but see weather the inventory has been posted in the normal warehouse or not.