You must set the engage and retract motions to linear with an angle value of zero. Set the length for the amount you want to extend the cut. For this, I would set the approach and departure motions to zero unless you want to control the feedrate differently on those motions.
NOTE: the feedrate for the extended portion of the toolpath will be set as per the engage and reract values on the speeds and feeds tab. By default the engage is 75% lower than the cut feedrate and the retract is 25% faster.
See the screenshot attached: