A key role of the CNC is to perform the feedrate interpolation which means to generate the setpoints for each machine tool axis. The aim of the VPOp algorithm is to make maximum use of the machine tool respecting both tangential and axis jerk on rotary and linear axes. The developed algorithm uses an iterative constraints intersection approach. At each sampling period, all the constraints given by each axis are expressed and by intersecting all of them the allowable interval for the next point along the path is computed. Examples and comparisons with an industrial CNC demonstrate the performances of the algorithm.