Abstract— Transformation of a tool path data computed by a commercial Computer -Aided Manufacturing system (CAM) to create a NC program for a 5-axis CNC machine plays an important role in CAM/CNC integration in the mechanical manufacturing industry. This paper presents a kinematic modelling and an inverse kinematic analysis for a 5-axis CNC machine Spinner U5-620. Since the 5-axis machine is comprised of two kinematic chains, which is similar to two cooperative robots, one robot caries the tool and one robot caries the workpiece, the kinematics model of the machine is formulated by unifying the two separate kinematics sub-models of the two kinematic chains. It has shown that the closed form inverse kinematic equation yielded in this study is useful for developing a postprocessor to produce NC programs for the 5-axis CNC machine. By using the developed postprocessor, complex parts composed of sculptured surfaces can be machined effectively with the machine. The real cut part experiments implemented on the machine Spinner U5-620 show the effectiveness of the proposed method.