According to the practice experiment requirements of college students, the teaching model of fiveaxis linkage mini computer numerical control (CNC) milling machine is designed. The milling machine was adopted of the oscillating turntable mechanical structure, which could realize the three dimensional (3D) space in mobile and rotation of A axis and B axis, and realize the design concept of five-axis linkage. On this basis, the five-axis linkage mini motion control system of CNC milling machine was developed basing on ARM. This CNC system was adopted of the design mode of personal computer and ARM microcontroller “PC+ARM MCU”. Host computer was used to implement CNC document compilation, CNC cutter compensation calculation, and to communicate with lower computer by the Delphi program software. Lower computer was based on ARM MCU of STM32 chip as the core, which mainly realized of communication with the host computer, interpolation calculation and the position of the motor control and other functions. Because the stability of the CNC system is high, the safety and reliability of the system are high, so it is very suitable for the students in colleges and universities to do experiment.