Yaskawa YASNAC PC NC Programming Manual - Manual (Page 94)

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YASNAC PCNC Programming Manual Chapter 3: Movement Control Commands
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Straight-line to Straight-line at outside comer (270° to 360°)
FIGURE 3.4.4.5 Offset Start-up (Straight-line to Straight-line (2))
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Straight-line to arc at outside corner (180° to 270°)
FIGURE 3.4.4.6 Offset Start-up (Straight-line to Arc (1))