Abstract: To avoid the rigid impact on machined surfaces produced by the nonzero velocity and acceleration of cutter to static workpiece on initial location, this paper presents an approach to generate smooth cutter-axis sequences based on modified rule of constant velocity. By limiting the changes of two space angles determined by tool orientation using the rule of constant velocity, stable cutter-axis sequences used to machine current cutter path can be obtained. Meanwhile, this method can avoid inaccuracy cutter locations created by nonzero velocity and acceleration of initial cutter location to static workpiece. The analyzing results of experiment suggests that the method presented by this paper can produce steady and smooth cutter-axis sequences, improving the stability of machine tool running status and the quality of machined surfaces.