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Here we report the magnetic structure of the orthorhombic Cu0.95MnAs and Cu0.98Mn0.96As single crystals. While Cu0.95MnAs is a commensurate antiferromagnet (C-AFM) below 360 K with a propagation vector of k = 0, Cu0.98Mn0.96As undergoes a second-order paramagnetic to incommensurate antiferromagnetic (IC-AFM) phase transition at 320 K with k = (0.1,0,0), followed by a second-order IC-AFM to C-AFM phase transition at 230 K. 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