Pipe fitting winding machine is generally used for mass production of various composite fittings such as epoxy resin high pressure elbow and polyester resin elbow. These fittings are generally used to join straight composite pipes together in various projects. Pipe fitting winding machine adopts six servo motors and has 4-axis including spindle-mandrel rotating axis, horizontal carriage moving axis, cross-feed axis and eye rotating axis. This 4-axis system, controlled by CNC motion controller, is mainly used to complete the winding task of pipe fittings.