Abstract: A planning and controlling method of feedrate was proposed for the problems that the deceleration point is difficult to predict and only planning the translation axis speed is easy to cause the rotation axis angular velocity/angular acceleration to overrun in five-axis linear interpolation. In this method, the actual maximum reachable velocity/acceleration of the translation axis was first calculated based on the constraint control of the angular velocity/angular acceleration of the rotation axis. Then, the feedrate planning of the translation axis was performed. According to the acceleration and deceleration controlling law of the translational axis, the numbers of interpolation cycles of acceleration, uniform and deceleration were calculated, respectively. The residual distance was evenly distributed to each deceleration cycle so that when the last cycle had gone, the endpoint of the interpolation path segment is justly reached. The verification data in an example show that the proposed method can accurately locate the endpoint of the interpolation path segment without predicting the deceleration point. At the same time, the rotation axis can coordinate the acceleration and deceleration process with the translation axis under the respective kinematics constraints. This method is proved to be effective and feasible. The presented method has high practical values in improving performance and motion control accuracy of the machine tools.