Yaskawa YASNAC PC NC Programming Manual - Manual (Page 128)

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YASNAC PCNC Programming Manual Chapter 3: Movement Control Commands
(2) Operation
(a) Programmed paths
In the 3-D tool offset mode, the end point of each block is determined based on the vector
commands I, J, and K specified in that block.
Fig. 3.4.5.1 Tool Path in 3-D Tool Offset and Programmed Tool Path