The machining industry aims to boost productivity and sustainability through advanced machining strategies like conical taper barrel milling. These tools, with large contact radii, enhance surface quality, efficiency, and material removal on freeform surfaces. However, industry uptake is limited by challenges in programming varying tilt angles leading to uneven tool wear. Unlike lathes using G96 to maintain constant surface speed, milling machines use fixed spindle speeds, making them less adaptable. This paper presents a novel method for 5-axis control of conical taper barrel tools by dynamically adjusting spindle speed, feedrate, TCP position, and tool orientation. Machining trials validate the method’s effectiveness.