In order to achieve flexible machining operations, a system called Digital Copy Milling (DCM) was developed in our previous studies. The DCM is the original concept to achieve the direct milling operation, which does not require any NC program to perform machining operations. In this study, Voxel representation of removal volume is introduce to enhance the function of the DCM. By utilizing Voxel property corresponding to tool posture, active tool posture control, which is independent of tool path generation in 5-axis milling can be realized. The experimental verification was performed successfully.