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Abstract: A modeling method of CNC machine tools’ spatial geometric error is proposed based on two-dimensional angle error in this paper. Different from traditional modeling method, this method takes into account the effect of additional angle errors because the machine tool’s angle errors in the system of the lower guide rail will be passed on to slip board structure to the upper guide rail system. Firstly, after analyzing the principle of two-dimensional angle error, an optimized error compensation model of CNC machine tools’ spatial geometric error contains two-dimensional angle error is established through the traditional homogeneous coordinate transformation matrix method (HTM). Further, by applying the experiment, the compensation effect of the model is verified through comparing the body diagonal errors of CNC machine tools before and after compensation. Experiment results show that the body-diagonal accuracy after compensation based on the optimized model is 87.73% higher than that before compensation, and 54.82% higher than that of the traditional model after compensation. Article Highlights: The highlight of the study reported here is threefold: Firstly, the principle of two-dimensional angle error is analyzed. Secondly, an optimized spatial geometric error compensation model of CNC machine tool is established based on the principle of two-dimensional angle error. Thirdly, the compensation effect of the optimized compensation model is verified by comparing the bodies diagonal precision of the machine tool.